CN113580123A - Robot clamping method for heavy long bar - Google Patents
Robot clamping method for heavy long bar Download PDFInfo
- Publication number
- CN113580123A CN113580123A CN202111009036.2A CN202111009036A CN113580123A CN 113580123 A CN113580123 A CN 113580123A CN 202111009036 A CN202111009036 A CN 202111009036A CN 113580123 A CN113580123 A CN 113580123A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- servo motor
- signal
- plc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of industrial robot feeding and discharging, robot clamping jaws adopt a double-parallel clamping jaw structure, two servo motors are used as power drives, and the servo motors drive a left clamping jaw and a right clamping jaw to perform clamping and loosening actions. When the robot clamping jaw clamps the heavy long bar part with different diameter sections and longer length, the PLC respectively controls the two servo motors to rotate forwards, and set torque is output to clamp the bar part; when the clamping jaw of the robot loosens the heavy long bar part with different diameter sections and longer length, the PLC respectively controls the two servo motors to reversely rotate, and the induction proximity switch loosens the bar part.
Description
Technical Field
The invention belongs to the field of industrial robot feeding and discharging, and particularly relates to a robot clamping method for heavy long bars with different diameter sections and longer length.
Background
At present, the bar parts of most numerical control machines in China are manually operated, the manual feeding and discharging of some light bar workpieces are easy, the manual feeding and discharging of other heavy workpieces, particularly more than 100kg, is very difficult, and the feeding and discharging can be completed only by means of tools such as a travelling crane or a balance crane, so that the labor intensity is high, the danger degree is high, and the efficiency is low. Therefore, more and more enterprises want to clamp heavy bar parts by using industrial robots to realize feeding and discharging, but the clamping force of cylinder clamping jaws commonly used by industrial robots is relatively small, and generally only can clamp parts below 50kg, most parts above 50kg cannot be clamped, although some enterprises adopt servo clamping jaws to clamp heavy-load bars, the enterprises adopt single servo drive to clamp heavy-load bars only, and can clamp heavy-load bars with the same diameter section or smaller length, and the clamping is realized by a servo position mode, and is often not tight, easy to drop and very dangerous, and no suitable robot clamping method exists for heavy-load bars with different diameter sections and longer length.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot clamping method for heavy long bars with different diameter sections and longer length.
In order to achieve the purpose, the invention adopts the following technical scheme: robot clamping jaw adopts two parallel clamping jaw structures, uses two servo motor as power drive, and every servo motor is furnished with a speed reducer, and every speed reducer is connected a set of positive and negative trapezoidal lead screw and is rotated, and trapezoidal lead screw is supported by both ends tapered roller bearing, joins in marriage two trapezoidal nuts on every trapezoidal lead screw of group, and trapezoidal nut links to each other with the connecting plate, and both sides are driven by the linear guide slider, and control the clamping jaw and link to each other with the connecting plate, are driven by servo motor and carry out the action of pressing from both sides tight unclamping. When the robot clamping jaw clamps the heavy long bar part with different diameter sections and longer length, the PLC respectively controls the two servo motors to rotate forwards, and set torque is output to clamp the bar part; when the clamping jaw of the robot loosens the heavy long bar part with different diameter sections and longer length, the PLC respectively controls the two servo motors to reversely rotate, and the induction proximity switch loosens the bar part.
The working process of clamping the heavy long bar part with different diameter sections and longer length by the robot clamping jaw is as follows:
s1, the robot sends a clamping command signal PLC of the clamping jaw 1 and a clamping command signal PLC of the clamping jaw 2 at the same time;
s2, the PLC sends a clamping jaw 1 torque output command signal and a servo motor 1 forward rotation command signal, and a clamping jaw 2 torque output command signal and a servo motor 2 forward rotation command signal;
s3, the PLC outputs a set torque value to the servo motor 1 and the servo motor 2;
s4, the servo motor 1 outputs a set torque to drive the forward and reverse trapezoidal screw rod 1 to start forward rotation; the servo motor 2 outputs a set torque to drive the forward and reverse trapezoidal screw rod 2 to start forward rotation;
s5, the forward and backward trapezoidal screw rods 1 respectively drive the left clamping jaw and the right clamping jaw of the clamping jaw 1 on the two nuts to move towards the middle; the positive and negative trapezoidal screw rods 2 respectively drive the left clamping jaw and the right clamping jaw of the clamping jaws 2 on the two nuts to move towards the middle;
s6, when the clamping jaw 1 clamps the bar part, the load torque is increased, when the output torque of the servo motor 1 is equal to the load torque, the servo motor 1 stops rotating forwards, and a servo 1 torque limit middle signal and a servo 1 zero-speed signal are output to the PLC; when the clamping jaw 2 clamps the bar part, the load torque is increased, when the output torque of the servo motor 2 is equal to the load torque, the servo motor 2 stops rotating forwards, and a servo 2 torque limit middle signal and a servo 2 zero-speed signal are output to the PLC;
s7, the PLC outputs a clamping state signal of the clamping jaw 1 and a clamping state signal of the clamping jaw 2 to the robot;
and S8, when the robot receives the clamping state signal of the clamping jaw 1 and the clamping state signal of the clamping jaw 2 from the PLC at the same time, the robot finishes clamping the bar part.
The working process of the robot clamping jaw for loosening the heavy long bar parts with different diameter sections and longer length is as follows:
s1, the robot sends a clamping jaw 1 loosening command signal and a clamping jaw 2 loosening command signal PLC at the same time;
s2, the PLC sends out a clamping jaw 1 torque output command signal and a servo motor 1 reversal command signal, and a clamping jaw 2 torque output command signal and a servo motor 2 reversal command signal;
s3, the PLC outputs a set torque value to the servo motor 1 and the servo motor 2;
s4, the servo motor 1 outputs a set torque to drive the positive and negative trapezoidal lead screw 1 to start to rotate reversely; the servo motor 2 outputs a set torque to drive the forward and reverse trapezoidal screw rod 2 to start to rotate reversely;
s5, the forward and backward trapezoidal screw rods 1 respectively drive the left and right clamping jaws of the clamping jaws on the two nuts to move towards two sides; the positive and negative trapezoidal screw rods 2 respectively drive the left and right clamping jaws of the clamping jaws 2 on the two nuts to move towards two sides;
s6, when the clamping jaw 1 induces any one of the proximity switches on the two sides, sending an input signal of the proximity switch 1 with the clamping jaw 1 loosened in place or an input signal of the proximity switch 2 with the clamping jaw 1 loosened in place to the PLC; when the clamping jaw 2 induces any one of the proximity switches at the two sides, an input signal of the proximity switch 1 for the clamping jaw 2 to be loosened in place or an input signal of the proximity switch 2 for the clamping jaw 2 to be loosened in place is sent to the PLC;
s7, the PLC outputs a clamping jaw 1 loosening state signal and a clamping jaw 2 loosening state signal to the robot;
s8, the PLC sends out a torque output command invalid signal of the clamping jaw 1; the servo motor 1 stops reversing, and the clamping jaw 1 loosens the bar part; the PLC sends out a torque output command invalid signal of the clamping jaw 2; the servo motor 2 stops reversing, and the clamping jaw 2 loosens the bar part;
and S9, when the robot receives the clamping jaw 1 loosening state signal and the clamping jaw 2 loosening state signal from the PLC at the same time, the robot finishes loosening the bar part.
Further, when the PLC sends a clamping jaw 1 torque output command signal and a servo motor 1 forward rotation command signal, the servo motor 1 is in a torque control mode; when the PLC sends out a torque output command signal of the clamping jaw 2 and a forward rotation command signal of the servo motor 2, the servo motor 2 is in a torque control mode.
Further, when the output torque of the servo motor 1 is equal to the load torque and the servo motor 1 stops rotating forwards, the PLC receives an effective servo 1 torque limit middle signal and a servo 1 zero speed signal to judge whether the robot clamping jaw 1 clamps the bar part or not, and the clamping jaw 2 is the same.
Further, when the robot receives a clamping state signal of the clamping jaw 1 and a clamping state signal of the clamping jaw 2 from the PLC at the same time, the clamping of the bar part by the robot is completed.
Further, when the PLC sends a clamping jaw 1 torque output command signal and a servo motor 1 reverse rotation command signal, the servo motor 1 is in a torque control mode; when the PLC sends out a torque output command signal of the clamping jaw 2 and a reverse rotation command signal of the servo motor 2, the servo motor 2 is in a torque control mode.
Further, when the robot receives a clamping jaw 1 loosening state signal and a clamping jaw 2 loosening state signal from the PLC at the same time, the robot finishes loosening the bar part.
By adopting the technical scheme, the feeding and discharging problems of bar parts with different diameter sections, longer length and heavy weight in industrial application are solved, the labor cost is reduced, the labor intensity is reduced, the danger degree is reduced, and the production benefit is improved.
Drawings
In order to more clearly explain the technical solution of the present invention, the drawings in the embodiments will be briefly described below.
FIG. 1 is a schematic view of a robot gripper jaw gripping a large shaft part;
FIG. 2 is a schematic view of a robot gripper jaw clamping and unclamping large shaft part control;
FIG. 3 is one of the PLC control programs for clamping and loosening the large-shaft part by the clamping jaw of the robot;
FIG. 4 is a second PLC control program for clamping and loosening the large-shaft part by the clamping jaw of the robot;
fig. 5 shows a third PLC control program for clamping and loosening the large-axis part by the clamping jaw of the robot.
1, a servo motor 1; 2, clamping a jaw 1 left jaw; 3, clamping jaw 1 right jaw; 4, loosening the clamping jaw 1 to the proper position to approach the switch 1; 5, loosening the clamping jaw 1 to a proper position to approach the switch 2, 6 to the servo motor 2; 7, clamping jaw 2 left jaw; 8, clamping jaw 2 right jaw; 9, loosening the clamping jaw 2 to the position to approach the switch 1; the jaw 2 is released to position the proximity switch 2 10.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
To illustrate how to achieve robotic gripping of heavy bar stock of different diameter sections and longer length, see the following examples.
Take the loading and unloading work station of the crane large-shaft part industrial robot as an example.
There are 10 crane large shaft parts, the maximum diameter is from 80mm to 180mm, the length is from 600mm to 1300mm, the weight is from 70kg to 150kg, and each large shaft part has a plurality of diameter sections.
As shown in fig. 1, the robot clamping jaw adopts a double-parallel clamping jaw structure, two servo motors are used as power drives, each servo motor is provided with a speed reducer, each speed reducer is connected with a set of positive and negative trapezoidal lead screws to rotate, the trapezoidal lead screws are supported by tapered roller bearings at two ends, two trapezoidal nuts are arranged on each trapezoidal lead screw, the trapezoidal nuts are connected with a connecting plate, two sides of each trapezoidal lead screw are driven by linear guide rail sliders, left and right clamping jaws are connected with the connecting plate, and the servo motors are used for driving clamping and loosening.
The robot adopts a Korean modern robot HS220, and the maximum load is 220 kg; the PLC adopts FX5U of Mitsubishi, the servo motor of the robot clamping jaw adopts a servo motor of 0.75kW of Japan Song, the speed reducer adopts a domestic speed reduction ratio of 1: 30, of a nitrogen-containing gas; the positive and negative trapezoidal lead screws and the trapezoidal nuts are customized; the connecting plate, the left clamping jaw and the right clamping jaw are also customized, and the linear guide rail and the sliding block are made of silver HGH25 on Taiwan; the robot clamping jaw can clamp heavy-load bars with the diameter of 60mm to 200mm, the length of 400mm to 1500mm and the weight of 50kg to 170kg, and meets the clamping requirement of large-shaft parts of the crane.
When the robot clamping jaw clamps a large shaft part, the servo motor 1 and the servo motor 2 are respectively controlled to rotate forwards through the PLC, the servo motor 1 and the servo motor 2 respectively output set torque to drive a speed reducer, the speed reducer drives a forward and reverse trapezoidal lead screw, the forward and reverse trapezoidal lead screw drives a trapezoidal nut, the trapezoidal nut drives a connecting plate, the connecting plate drives a left clamping jaw and a right clamping jaw, the left clamping jaw and the right clamping jaw move towards the middle, when the clamping jaw 1 clamps the large shaft part, the load torque is increased, when the output torque of the servo motor 1 is equal to the load torque, the servo motor 1 stops rotating forwards, and the clamping jaw 1 clamps the large shaft part; when the clamping jaw 2 clamps the large shaft part, the load torque is increased, when the output torque of the servo motor 2 is equal to the load torque, the servo motor 2 stops rotating forwards, the clamping jaw 2 clamps the large shaft part, and when the clamping jaw 1 and the clamping jaw 2 clamp the large shaft part, the clamping of the large shaft part by the robot is completed.
When the robot clamping jaw loosens a large-shaft part, the servo motor 1 and the servo motor 2 are respectively controlled to rotate reversely through the PLC, the servo motor 1 and the servo motor 2 respectively output set torque to drive a speed reducer, the speed reducer drives a forward and reverse trapezoidal screw rod, the forward and reverse trapezoidal screw rod drives a trapezoidal nut, the trapezoidal nut drives a connecting plate, the connecting plate drives a left clamping jaw and a right clamping jaw, the left clamping jaw and the right clamping jaw move towards two sides, when the clamping jaw 1 senses any one of the proximity switches on the two sides, the servo motor 1 stops rotating reversely, and the clamping jaw 1 loosens the large-shaft part; when the clamping jaw 2 senses any one of the proximity switches on the two sides, the servo motor 2 stops rotating reversely, and the clamping jaw 2 loosens the large-shaft part; when the clamping jaws 1 and 2 both release the large-axis part, the robot releases the large-axis part.
The control schematic diagram of the robot clamping jaw clamping and releasing large-shaft part is shown in fig. 2, and main relevant signals comprise:
1. robot signal:
clamping state signal of clamping jaw 1, address: DI 1;
clamping state signal of clamping jaw 2, address: DI 2;
clamping jaw 1 clamping command signal, address: DO 1;
jaw 2 release command signal, address: DO 4;
2. PLC signals:
x signal:
clamping jaw 1 clamping command signal, address: x0;
the clamping jaw 1 is loosened to the right position and the proximity switch 1 inputs a signal, address: x4;
the clamping jaw 1 is loosened to the position and the proximity switch 2 inputs a signal, address: x5;
the clamping jaw 2 is loosened to the position and the proximity switch 1 inputs a signal, address: x14;
the clamping jaw 2 is loosened to the position and the proximity switch 2 inputs a signal, address: x15.
Y signal:
forward and reverse rotation command signals of the servo motor 1, address: y1, positive rotation when signal 1, and negative rotation when signal 0;
clamping state signal of clamping jaw 1, address: y2;
clamping state signal of clamping jaw 2, address: y12;
AO signal:
3. servo signals:
analog quantity torque input signal, address: AI 1;
a servo motor forward and reverse rotation command signal, address SI 1;
servo torque limit signal, address: SO 1;
servo zero speed signal, address: SO 2.
The PLC control program for clamping and loosening the large-axis part by the clamping jaws of the robot is shown in figures 3, 4 and 5.
The specific control process is as follows:
when the robot jaws clamp a large-axis part, the robot simultaneously sends jaw 1 clamping command signal DO1 and jaw 2 clamping command signal DO2 to the PLC.
When a clamping jaw 1 clamping command signal X0 is 1, namely the PLC receives an effective clamping jaw 1 clamping command DO1 from the robot, a clamping jaw 1 torque output command signal Y0 is effective, an intermediate relay KA1 coil is electrified, a normally open contact is connected, and the PLC outputs a set torque to an analog quantity torque input signal AI1 of the servo 1 through a servo 1 analog quantity torque output signal AO 1; meanwhile, a positive and negative rotation command signal Y1 of the servo motor 1 is also effectively output, a positive and negative rotation command signal SI1 of the servo motor 1 is effectively input, the servo motor 1 outputs a set torque to drive a positive and negative trapezoidal screw to start positive rotation, the positive and negative trapezoidal screw respectively drives left and right clamping jaws on two nuts to move towards the middle, when the clamping jaw 1 clamps a bar part, the load torque is increased, when the output torque of the servo motor 1 is equal to the load torque, the servo motor 1 stops positive rotation, the clamping jaw 1 clamps a large shaft part, and the servo 1 outputs a servo torque limit middle signal SO1 and a servo zero speed signal SO2 to the PLC.
When the signal X2 is 1 in the servo 1 torque limit, the PLC receives an effective signal SO1 in the torque limit from the servo 1; the servo 1 zero speed signal X3 is 1, namely when the PLC receives the effective zero speed signal SO2 from the servo 1, the clamping state signal Y2 of the clamping jaw 1 is output to be effective, the PLC outputs the clamping state signal Y2 of the clamping jaw 1 to the robot, and the clamping state signal DI1 of the clamping jaw 1 of the robot is input to be effective.
When a clamping command signal X10 of the clamping jaw 2 is 1, namely the PLC receives an effective clamping command DO2 of the clamping jaw 1 from the robot, a torque output command signal Y10 of the clamping jaw 2 is effective, a coil of an intermediate relay KA2 is electrified, a normally open contact is connected, and the PLC outputs a set torque to an analog quantity torque input signal AI1 of the servo 2 through a servo 2 analog quantity torque output signal AO 2; meanwhile, a positive and negative rotation command signal Y11 of the servo motor 2 is also effectively output, a positive and negative rotation command signal SI1 of the servo motor 2 is effectively input, the servo motor 2 outputs a set torque to drive a positive and negative trapezoidal screw to start positive rotation, the positive and negative trapezoidal screw respectively drives a left clamping jaw and a right clamping jaw on two nuts to move towards the middle, when the clamping jaws 2 clamp a bar part, the load torque is increased, when the output torque of the servo motor 2 is equal to the load torque, the servo motor 2 stops positive rotation, the clamping jaws 2 clamp a large shaft part, and the servo motor 2 outputs a servo torque limit middle signal SO1 and a servo zero speed signal SO2 to the PLC.
When the signal X12 is 1 in the servo 2 torque limit, the PLC receives the valid signal SO1 in the torque limit from the servo 2; the servo 2 zero speed signal X13 is 1, namely when the PLC receives the effective zero speed signal SO2 from the servo 2, the clamping state signal Y12 of the clamping jaw 2 is output to be effective, the PLC outputs the clamping state signal Y12 of the clamping jaw 2 to the robot, and the clamping state signal DI2 of the clamping jaw 2 of the robot is input to be effective.
When both robot jaw 1 clamping status signal DI1 and robot jaw 2 clamping status signal DI2 are active, the robot clamping of the large shaft part is complete.
When the robot jaws release a large-axis part, the robot simultaneously sends jaw 1 release command signal DO3 and jaw 2 release command signal DO4 to the PLC.
When a clamping jaw 1 loosening command signal X1 is 1, namely the PLC receives an effective clamping jaw 1 loosening command DO3 from the robot, a clamping jaw 1 torque output command signal Y0 is effective, a coil of an intermediate relay KA1 is electrified, a normally open contact is connected, and the PLC outputs a set torque to an analog quantity torque input signal AI1 of the servo 1 through a servo 1 analog quantity torque output signal AO 1; meanwhile, a positive and negative rotation command signal Y1 of the servo motor 1 is output to be invalid, a positive and negative rotation command signal SI1 of the servo motor 1 is input to be invalid, the servo motor 1 outputs set torque to drive a positive and negative trapezoidal screw to start to rotate reversely, the positive and negative trapezoidal screw respectively drives left and right clamping jaws on two nuts to move towards two sides, and when the clamping jaws 1 sense any approach switch on the two sides, a loosening in-place signal is sent to the PLC.
When the clamping jaw 1 is released to the position, an input signal X4 of the proximity switch 1 is 1, namely the PLC receives a valid input signal from the proximity switch 1 of the clamping jaw 1; or the input signal X5 of the proximity switch 2 is 1 when the clamping jaw 1 is released to the position, namely the PLC receives a valid input signal from the proximity switch 2 of the clamping jaw 1, the output of the clamping jaw 1 releasing state signal Y3 is valid, the PLC outputs a clamping jaw 1 releasing state signal to the robot, and the input of the robot clamping jaw 1 releasing state signal DI3 is valid. Meanwhile, a torque output command signal Y0 of the clamping jaw 1 is output to be invalid, the PLC sends a torque output command invalid signal, the coil of the intermediate relay KA1 is powered off, and the normally open contact is disconnected; the PLC no longer outputs the set torque to the analog quantity torque input signal AI1 of the servo 1 through the analog quantity torque output signal AO1 of the servo 1; the servo motor 1 stops reversing, and the clamping jaw 1 loosens the large-shaft part.
When a clamping jaw 2 release command signal X11 is 1, namely the PLC receives an effective clamping jaw 2 release command DO4 from the robot, a clamping jaw 2 torque output command signal Y10 is effective, an intermediate relay KA2 coil is electrified, a normally open contact is connected, and the PLC outputs a set torque to an analog quantity torque input signal AI1 of the servo 2 through a servo 2 analog quantity torque output signal AO 2; meanwhile, a positive and negative rotation command signal Y11 output by the servo motor 2 is invalid, a positive and negative rotation command signal SI1 input by the servo motor 2 is invalid, the servo motor 2 outputs a set torque to drive the positive and negative trapezoidal screw rods to start to rotate reversely, the positive and negative trapezoidal screw rods respectively drive the left clamping jaw and the right clamping jaw on the two nuts to move towards two sides, and when the clamping jaws 2 sense any approach switch on the two sides, a loosening in-place signal is sent to the PLC.
When the clamping jaw 2 is released to the position, the input signal X14 of the proximity switch 1 is 1, namely the PLC receives a valid input signal from the proximity switch 1 of the clamping jaw 2; or the input signal X15 of the proximity switch 2 is 1 when the clamping jaw 1 is released to the position, namely the PLC receives a valid input signal from the proximity switch 2 of the clamping jaw 2, the release state signal Y13 of the clamping jaw 2 is valid, the PLC outputs a release state signal of the clamping jaw 2 to the robot, and the release state signal DI4 of the clamping jaw 2 of the robot is valid. Meanwhile, a torque output command signal Y10 of the clamping jaw 2 is output to be invalid, the PLC sends a torque output command invalid signal, the coil of the intermediate relay KA2 is powered off, and the normally open contact is disconnected; the PLC no longer outputs the set torque to the analog quantity torque input signal AI1 of the servo 2 through the servo 2 analog quantity torque output signal AO 2; the servo motor 2 stops reversing, and the clamping jaw 2 loosens the large-shaft part.
When both robot jaw 1 release status signal DI3 and robot jaw 2 release status signal DI4 are active, robot release of the large-axis part is complete.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (10)
1. A robot clamping method for heavy long bars is characterized in that: the robot clamping jaw adopts a double-parallel clamping jaw structure, two servo motors are used as power drive, each servo motor is provided with a speed reducer, each speed reducer is connected with a group of positive and negative trapezoidal lead screws to rotate, the trapezoidal lead screws are supported by tapered roller bearings at two ends, each group of trapezoidal lead screws is provided with two trapezoidal nuts, the trapezoidal nuts are connected with a connecting plate, two sides of each trapezoidal lead screw are driven by linear guide rail sliders, a left clamping jaw and a right clamping jaw are connected with the connecting plate, and the servo motors drive the clamping jaws to perform clamping and loosening actions; when the clamping jaws clamp heavy long bar parts with different diameter sections and longer lengths, the PLC respectively controls the two servo motors to rotate forwards, and the bar parts are clamped by outputting set torque values; when the clamping jaw loosens the bar part, the PLC respectively controls the two servo motors to rotate reversely, and the bar part is loosened by sensing a control signal of the proximity switch.
2. The robotic pick up method of heavy long bars according to claim 1, characterized in that: the robot clamping jaw comprises a clamping jaw 1 and a clamping jaw 2, wherein the clamping jaw 1 and the clamping jaw 2 are composed of a left clamping jaw and a right clamping jaw.
3. The robotic pick up method of heavy long bars according to claim 1, characterized in that: the robot clamping jaw adopts a double-parallel clamping jaw structure.
4. The robotic pick up method of heavy long bars according to claim 1, characterized in that: the working process of clamping the heavy long bar part by the robot clamping jaw is as follows:
s1, the robot sends a clamping command signal of the clamping jaw 1 and a clamping command signal of the clamping jaw 2 at the same time, and the signals are transmitted to the PLC;
s2, the PLC sends a clamping jaw 1 torque output command signal and a servo motor 1 forward rotation command signal, and a clamping jaw 2 torque output command signal and a servo motor 2 forward rotation command signal;
s3, the PLC outputs a set torque value to the servo motor 1 and the servo motor 2;
s4, the servo motor 1 outputs a set torque to drive the forward and reverse trapezoidal screw rod 1 to start forward rotation; the servo motor 2 outputs a set torque to drive the forward and reverse trapezoidal screw rod 2 to start forward rotation;
s5, the forward and backward trapezoidal screw rods 1 respectively drive the left clamping jaw and the right clamping jaw of the clamping jaw 1 on the two nuts to move towards the middle; the positive and negative trapezoidal screw rods 2 respectively drive the left clamping jaw and the right clamping jaw of the clamping jaws 2 on the two nuts to move towards the middle;
s6, when the clamping jaw 1 clamps the bar part, the load torque is increased, when the output torque of the servo motor 1 is equal to the load torque, the servo motor 1 stops rotating forwards, and a servo 1 torque limit middle signal and a servo 1 zero-speed signal are output to the PLC; when the clamping jaw 2 clamps the bar part, the load torque is increased, when the output torque of the servo motor 2 is equal to the load torque, the servo motor 2 stops rotating forwards, and a servo 2 torque limit middle signal and a servo 2 zero-speed signal are output to the PLC;
s7, the PLC outputs a clamping state signal of the clamping jaw 1 and a clamping state signal of the clamping jaw 2 to the robot;
and S8, when the robot receives the clamping state signal of the clamping jaw 1 and the clamping state signal of the clamping jaw 2 from the PLC at the same time, the robot finishes clamping the bar part.
5. The robotic pick up method of heavy long bars according to claim 1, characterized in that: the working process of the robot clamping jaw for loosening the bar part is as follows:
s1, the robot sends a clamping jaw 1 loosening command signal and a clamping jaw 2 loosening command signal at the same time, and the signals are transmitted to the PLC;
s2, the PLC sends out a clamping jaw 1 torque output command signal and a servo motor 1 reversal command signal, and a clamping jaw 2 torque output command signal and a servo motor 2 reversal command signal;
s3, the PLC outputs a set torque value to the servo motor 1 and the servo motor 2;
s4, the servo motor 1 outputs a set torque to drive the positive and negative trapezoidal lead screw 1 to start to rotate reversely; the servo motor 2 outputs a set torque to drive the forward and reverse trapezoidal screw rod 2 to start to rotate reversely;
s5, the forward and backward trapezoidal screw rods 1 respectively drive the left clamping jaw and the right clamping jaw of the clamping jaws 1 on the two nuts to move towards two sides; the positive and negative trapezoidal screw rods 2 respectively drive the left and right clamping jaws of the clamping jaws 2 on the two nuts to move towards two sides;
s6, when the clamping jaw 1 induces any one of the proximity switches on the two sides, sending an input signal of the proximity switch 1 with the clamping jaw 1 loosened in place or an input signal of the proximity switch 2 with the clamping jaw 1 loosened in place to the PLC; when the clamping jaw 2 induces any one of the proximity switches at the two sides, an input signal of the proximity switch 1 for the clamping jaw 2 to be loosened in place or an input signal of the proximity switch 2 for the clamping jaw 2 to be loosened in place is sent to the PLC;
s7, the PLC outputs a clamping jaw 1 loosening state signal and a clamping jaw 2 loosening state signal to the robot;
s8, the PLC sends out a torque output command invalid signal of the clamping jaw 1; the servo motor 1 stops reversing, and the clamping jaw 1 loosens the bar part; the PLC sends out a torque output command invalid signal of the clamping jaw 2; the servo motor 2 stops reversing, and the clamping jaw 2 loosens the bar part;
and S9, when the robot receives the clamping jaw 1 loosening state signal and the clamping jaw 2 loosening state signal from the PLC at the same time, the robot finishes loosening the bar part.
6. The robotic pick up method of heavy long bars according to claim 4, characterized in that: when the PLC sends a clamping jaw 1 torque output command signal and a servo motor 1 forward rotation command signal, the servo motor 1 is in a torque control mode; when the PLC sends out a torque output command signal of the clamping jaw 2 and a forward rotation command signal of the servo motor 2, the servo motor 2 is in a torque control mode.
7. The robotic pick up method of heavy long bars according to claim 4, characterized in that: when the output torque of the servo motor 1 is equal to the load torque and the servo motor 1 stops rotating forwards, the PLC judges whether the robot clamping jaw 1 clamps the bar part or not by receiving an effective servo 1 torque limitation middle signal and a servo 1 zero speed signal, and the clamping jaw 2 is the same.
8. The robotic pick up method of heavy long bars according to claim 4, characterized in that: and when the robot receives the clamping state signal of the clamping jaw 1 and the clamping state signal of the clamping jaw 2 from the PLC at the same time, the robot finishes clamping the bar part.
9. The robotic pick up method of heavy long bars according to claim 5, characterized in that: when the PLC sends out a clamping jaw 1 torque output command signal and a servo motor 1 reverse rotation command signal, the servo motor 1 is in a torque control mode; when the PLC sends out a torque output command signal of the clamping jaw 2 and a reverse rotation command signal of the servo motor 2, the servo motor 2 is in a torque control mode.
10. The robotic pick up method of heavy long bars according to claim 5, characterized in that: and when the robot receives the clamping jaw 1 loosening state signal and the clamping jaw 2 loosening state signal from the PLC at the same time, the robot finishes loosening the bar part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009036.2A CN113580123A (en) | 2021-08-31 | 2021-08-31 | Robot clamping method for heavy long bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009036.2A CN113580123A (en) | 2021-08-31 | 2021-08-31 | Robot clamping method for heavy long bar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113580123A true CN113580123A (en) | 2021-11-02 |
Family
ID=78240497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111009036.2A Pending CN113580123A (en) | 2021-08-31 | 2021-08-31 | Robot clamping method for heavy long bar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113580123A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040207222A1 (en) * | 2003-03-14 | 2004-10-21 | Yutaka Electronics Industry Co., Ltd. | Hand device for working robot |
| CN101600642A (en) * | 2006-11-23 | 2009-12-09 | 派内曼设备有限责任公司 | Article holder |
| CN109895102A (en) * | 2019-04-19 | 2019-06-18 | 天津工业大学 | A kind of control method of the end grabber based on PLC |
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
| CN209747494U (en) * | 2019-04-30 | 2019-12-06 | 青岛高测科技股份有限公司 | Crystal silicon clamping device convenient to measure |
| CN211729221U (en) * | 2020-01-17 | 2020-10-23 | 西安利辉自动化设备有限公司 | Servo drive synchronous motion double-clamp |
| CN213532648U (en) * | 2020-10-22 | 2021-06-25 | 重庆工程职业技术学院 | Cylinder robot clamp |
-
2021
- 2021-08-31 CN CN202111009036.2A patent/CN113580123A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040207222A1 (en) * | 2003-03-14 | 2004-10-21 | Yutaka Electronics Industry Co., Ltd. | Hand device for working robot |
| CN101600642A (en) * | 2006-11-23 | 2009-12-09 | 派内曼设备有限责任公司 | Article holder |
| CN109895102A (en) * | 2019-04-19 | 2019-06-18 | 天津工业大学 | A kind of control method of the end grabber based on PLC |
| CN209747494U (en) * | 2019-04-30 | 2019-12-06 | 青岛高测科技股份有限公司 | Crystal silicon clamping device convenient to measure |
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
| CN211729221U (en) * | 2020-01-17 | 2020-10-23 | 西安利辉自动化设备有限公司 | Servo drive synchronous motion double-clamp |
| CN213532648U (en) * | 2020-10-22 | 2021-06-25 | 重庆工程职业技术学院 | Cylinder robot clamp |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201711970U (en) | Pressure control power assisting manipulator | |
| CN103921162A (en) | Automatic feeding and discharging device applied to numerically-controlled machine tool | |
| CN203170977U (en) | Full-automatic digital controlled lathe | |
| CN113580123A (en) | Robot clamping method for heavy long bar | |
| CN204449582U (en) | A kind of robot carrier bar welder | |
| CN102000905A (en) | Pin tube automatic set submerged arc welding set | |
| CN212197317U (en) | Multi-angle switching device for long shaft workpiece | |
| CN102218660B (en) | Flaw-detecting, edge-milling and pre-bending unit for straight slit steel pipe | |
| CN210677960U (en) | Automatic shaft machining equipment | |
| CN215748015U (en) | Mechanical transmission part processing turn-over device | |
| CN106670822B (en) | Automatic production line for reducing threaded pipes | |
| CN215548688U (en) | Control system of woodware processing device | |
| CN210500250U (en) | Truss robot for feeding and discharging materials on automatic processing line | |
| CN210102881U (en) | Special clamping jaw of industrial robot | |
| CN110682205A (en) | Automatic feeding and discharging mechanism for five-axis grinding machine | |
| KR101953602B1 (en) | A workpiece transfer device of machine tool | |
| CN211249599U (en) | Automatic feeding and discharging mechanism for five-axis grinding machine | |
| CN216780365U (en) | Pneumatic oscillating clamping jaw | |
| CN110626797A (en) | Fixed angle material loading manipulator mechanism | |
| CN210702594U (en) | Overturning and order-transferring mechanism | |
| CN212495063U (en) | Straightening machine control system for roll welding machine | |
| CN104827067A (en) | Long shaft double-head turning and clamping drive device and method | |
| CN112123350B (en) | Control system and control method of wood processing device | |
| CN220330946U (en) | Chemical machinery rust cleaning device | |
| CN215432716U (en) | Automatic loading and unloading truss robot for machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |