TWI668088B - Reciprocating machine and robot arm pick and place integration system - Google Patents

Abstract

A reciprocating processing machine and a robotic arm pick-and-place integration system, including a reciprocating processing machine, Controller and robotic arm. The reciprocating processing machine has a rotating shaft and a measuring device, wherein the measuring device is arranged on the rotating shaft, and the rotating angle of the reciprocating processing machine can be measured, and the reciprocating processing machine can be used for processing the workpiece to be processed by the mechanical arm. . The controller can obtain the travel position information of the reciprocating machine according to the rotation angle, and control the robot to remove or place the workpiece.

Description

Reciprocating machine and robot arm pick and place integration system

The invention provides a processing and integration system for a reciprocating processing machine and a mechanical arm pick-and-place integrated system, in particular, a system for improving the efficiency of pick-and-place workpieces of a reciprocating processing machine and a mechanical arm.

The processing and discharging device of the processing machine plays a very important role in the processing of the processing machine. The performance of the feeding and discharging device will directly affect the accuracy and efficiency of the processing operation of the processing machine, while the traditional processing machine is matched with the feeding and discharging. The device requires a processing machine controller and a pick-and-place device controller, and the controller and the controller exchange information through input/output (IO) or bus communication, or use the processing machine. The controller's redundant control axis is used to control the robot arm. However, since the processor controller and the pick-and-place device controller are not designed to be dedicated, they do not provide an effective pick-and-place application function during workpiece machining.

In addition, in another conventional punching machine processing machine and robot arm pick-and-place material, communication is carried out by way of authorization signal, and the sending of the authorization signal must wait for the robot arm to reach a fixed waiting point to continue, not only inefficient, instant Adjustments and itinerary optimization are also difficult.

Therefore, how to propose a process of integrating the processing and discharging device of the processing machine with the processing system has become an important issue to effectively improve the shortcomings of the prior art.

The main object of the present invention is to provide a reciprocating processing machine and a robotic arm pick-and-place integration system, which measures the rotation angle by a dedicated measuring device, and then the controller according to the angle of rotation and the linear axis of the reciprocating processing machine The travel position can be used to calculate the immediate travel plan, achieve accelerated pick-and-place material, speed up production, and reduce the effect of machine adjustment time.

In accordance with the above objects, the present invention primarily provides a reciprocating machine and robotic arm pick-and-place integration system comprising at least one reciprocating machine, controller and robotic arm. The reciprocating processing machine has a rotating shaft and a measuring device, wherein the measuring device is disposed on the rotating shaft, and the rotating shaft is used to drive the reciprocating processing machine and the measuring device for measuring the rotation angle of the reciprocating processing machine. The controller is connected to the reciprocating processing machine by means of signal communication, and calculates the rotation angle of the reciprocating processing machine to obtain the processing speed of the reciprocating processing machine. The mechanical arm is connected to the controller by means of signal communication. The controller determines the picking and discharging interval of the robot arm according to the safety range and processing speed of the reciprocating processing machine, and the controller picks up and discharges according to the picking and discharging interval and the mechanical arm. The material path calculates the minimum pick-and-place speed of the robot arm, so that the controller compares the minimum pick-and-drop speed with the maximum operating speed of the robot arm to determine whether to adjust the processing speed.

10,12,14‧‧‧Reciprocating processing machine

20, 22‧‧ mechanical arm

30‧‧‧ Controller

103, 123, 143‧‧‧ measuring devices

105, 125, 145‧‧‧ rotating shaft

107, 127, 147‧‧‧ linear axis

101, 104, 106‧‧‧ first sub-controller

102, 103‧‧‧ second sub-controller

40‧‧‧Removal of the robotic arm of the machined workpiece

50‧‧‧Drawing interval of the robot arm on which the workpiece to be machined is placed

60‧‧‧Minimum discharge speed

62‧‧‧ Minimum reclaiming speed

64‧‧‧Processing speed

70‧‧‧Workpiece

80‧‧‧ travel distance of the robot arm and the reclaiming time point T ₂ to the pick and place feeding time point T _S of the adapter calculate the minimum velocity required for reclaiming the robot arm

81‧‧‧ Calculate the minimum discharge speed required by the robot arm from the moving distance of the robot arm and the time from the pick-and-place contact point T _S to the discharge time point T ₁

82‧‧‧The minimum retrieving and minimum discharge speed of the robot arm and the maximum speed of the robot arm are determined.

83‧‧‧ Trigger collision warning stops working

84‧‧‧Determine whether the reciprocating machine can accelerate

85‧‧‧Determining that optimization has been achieved

86‧‧‧Improving the processing speed of the reciprocating machine

A‧‧‧Upper position

B‧‧‧Next position

D‧‧‧Processing distance

G‧‧‧Processing point

F‧‧‧Safety range

T ₁ ‧‧‧ Discharge time

T ₂ ‧‧‧Retraction time

Ts‧‧‧ picking and discharging joints

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of a first embodiment of a reciprocating machine and robotic arm pick and place integration system in accordance with the teachings of the present invention.

2 is a schematic diagram showing a second embodiment of a reciprocating machine and robotic arm pick-and-place integration system in accordance with the disclosed technology.

3 is a schematic view showing the angle of a rotating shaft of a reciprocating machine of a reciprocating machine and a robotic arm pick-and-place integration system in accordance with the disclosed technology.

4 is a schematic diagram showing a third embodiment of a reciprocating machine and a robotic arm pick and place integration system in accordance with the disclosed technology.

Figure 5 is a schematic illustration of a fourth embodiment of a reciprocating machine and robotic arm pick and place integration system in accordance with the teachings of the present invention.

6 is a flow chart showing the efficiency optimization of the reciprocating machine and the robotic arm pick and place integration system in accordance with the disclosed technology.

The advantages and features of the present invention, as well as the methods thereof, will be more readily understood by reference to the exemplary embodiments and the accompanying drawings. However, the invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough and complete and complete disclosure of the scope of the invention.

Please refer to FIG. 1 for a schematic diagram of a first embodiment of a reciprocating processing machine and a robotic arm pick-and-place integration system according to the present invention. As shown in FIG. 1, the reciprocating machine and the robotic arm pick-and-place integration system of the present invention comprises a reciprocating machine 10, a robot arm 20 and a controller 30, wherein the three are connected to each other by means of signal communication, for example, by wire or Signal communication method for wireless networks. The reciprocating machine 10 includes a measuring device 103, a rotating shaft 105, and a linear shaft 107, wherein the measuring device 103 is disposed on the rotating shaft 105 for measuring the angle of rotation of the reciprocating machine 10. Specifically, one end of the measuring device 103 is disposed on the rotating shaft 105, and the other end is fixed. Positioned on the body of the reciprocating machine 10, when the reciprocating machine 10 is in operation, the measuring device 103 rotates together with the rotating shaft 105, and the measuring device 103 detects the rotating shaft 105 by detecting the angle of itself. The angle of rotation and the travel position of the linear axis 107 is calculated. The measuring device 103 can be an encoder or a resolver or other sensor that can measure the angle of rotation of the rotating shaft 105. It should be noted that in the embodiment of the present invention, the controller 30 can be externally connected (such as a general computer) or built in the reciprocating processing machine 10 and the robot arm 20 (such as the respective axis control system), which will be implemented later. Explain separately in the examples.

The robot arm 20 is placed on the reciprocating machine 10 by a workpiece (not shown in the drawing) to be placed on the reciprocating machine 10 for performing the retrieving action, and the processed arm is also processed. The workpiece 70 is taken out from the reciprocating machine 10 and placed on the tray, that is, the action of discharging is performed. In other words, the robot arm 20 can perform both the take-up and the discharge operations. In addition, the reciprocating machine 10 and the robot arm 20 can be one or more. When the robot arm 20 is plural, the robot arms 20 can operate simultaneously to increase the efficiency of reclaiming and discharging.

Next, we will explain the situation when multiple robot arms are working at the same time. Please refer to Figure 2 and cooperate with Figure 1. 2 is a schematic view showing a second embodiment of the reciprocating processing machine and the robotic arm pick-and-place integration system of the present invention. As shown in Figure 2, the robot arm 20 is responsible for performing the take-up work, while the robot arm 22 is responsible for performing the discharge work. When the controller 30 knows that the reciprocating machine 10 is in the machining state according to the rotation angle measured by the measuring device 103, the rotation angle is calculated by using a slider-crank mechanism or the like. The stroke position of the linear shaft 107 of the machining machine 10 is then calculated by the difference between the stroke position of the linear shaft 107 and the machining speed 64 of the reciprocating machine 10. For example, the linear axis 107 can be in the machining distance D, that is, the range between the upper point position A and the lower point position B in FIG. 2, and the controller 30 can calculate the current linear axis from the rotation angle of the rotating shaft 105. 107 Operates at the stroke position in the machining distance D. On the other hand, if the linear axis 107 is pressed to the lower point position B during the machining process, the workpiece 70 is damaged. Therefore, the operator must set the safety range F of the linear shaft 107 to be pressed in advance. In the present invention, the linear shaft 107 is pressed. The lower safety range F is the range between the upper point position A and the machining point G in Fig. 2 .

In order to improve the pick-and-place flow speed of the reciprocating machine and the robot arm pick-and-place integration system, the pick-and-place time and the pick-and-drop speed of the robot arm 20 and the other robot arm 22 must be synchronized with the reciprocating machine 10 The machining speeds 64 match each other. Next, it will be explained how the controller 30 sets the pick-and-place time point of the robot arm 20 and the other robot arm 22. Please refer to FIG. 2 and FIG. 3 at the same time. FIG. 3 is a schematic diagram showing the angle of the rotating shaft of the reciprocating processing machine of the reciprocating processing machine and the robot arm pick-and-place integration system according to the present invention. The controller 30 sets the take-up time point T ₂ of the robot arm 20 and the discharge time point T _{1 of the} robot arm 22 according to the machining speed 64 and the safety range F of the reciprocating machine 10, respectively. Generally, when the robot arm 20 is finished, the robot arm 22 is then discharged, so the controller 30 sets the time of the robot arm 20 to the robot arm 22 to set the discharge point T _S . In the embodiment of the invention, the take-off point T _S may be any point between the take-up time point T ₂ and the discharge time point T ₁ . It is to be noted that since the operation cycle of the reciprocating machine 10 is equivalent to the operation cycle of the rotary shaft 105, the time required for the rotary shaft 105 to rotate one full turn is related to the machining speed 64, in other words, the take-up time point. T ₂ , the discharge time point T ₁ and the pick-and-place contact point T _S are also related to the processing speed 64.

Next, how the controller 30 sets the pick-and-place speed of the robot arm 20 and the other robot arm 22 will be explained. The time from the take-up time point T ₂ to the take-off contact point T _S is the take-up interval 40 of the robot arm 20, and the take-up path of the robot arm 20 in the take-up section 40 is as follows: first move from the waiting point to After the processing point G is above, the distance is E1 as shown in FIG. 2, and then the robot arm 20 is further lowered to grab the processed workpiece 70 (distance is not shown, assumed to be Y ₁ ), and then leaves the reciprocating processing machine 10 The range (distance is not shown, assumed to be E ₁ ), the moving distance of the robot arm 20 on the take-up path is 2 (E ₁ +Y ₁ ), which can be preset by hand. From the take-up path and the time from the take-up time T ₂ to the take-off point T _S , the minimum take-up speed 62 required for the robot 20 to complete the travel distance in time can be calculated. By analogy, the discharge section 50 of the robot arm 22 is within the time period from the pick-and-place contact point T _S to the discharge time point T ₁ , and the discharge path of the robot arm 22 on which the workpiece 70 to be processed is placed is as follows: After moving from the waiting point to the top of the processing point G, the distance is E2 as shown in FIG. 2, and then the processed workpiece 70 is lowered (the distance is not shown, assuming Y ₂ ), and then the retracting of the robot arm 22 is repeated. The range E _{2 of the} processing machine 10 and the moving distance of the robot arm 22 on the discharge path are 2 (E ₂ + Y ₂ ), which can be preset by hand. From the discharge path and the time from the take-off point T _S to the discharge time point T ₁ , the minimum discharge speed 60 required for the robot arm 22 to complete the travel distance in time can be calculated.

When the controller 30 respectively calculates the minimum take-up speed 62 and the minimum discharge speed 60 (hereinafter, the minimum take-up speed 62 and the minimum discharge speed 60 are simply referred to as the minimum take-off speed), then the minimum take-off speed is The robot arm 20 is compared with the maximum operating speed of the other robot arm 22, thereby judging whether or not the machining speed 64 needs to be adjusted. In general, there are three cases of the comparison result of the controller 30, which will be separately described below. In the first case, when the minimum take-off speed 60 is equal to the maximum operating speed, the overall pick-and-place process is optimized at this time. The second case: when the minimum take-off speed 60 is less than the maximum operating speed, the controller 30 first determines whether the current machining speed 64 exceeds the maximum machining speed preset by the reciprocating machine 10, and if the machining speed 64 is less than the reciprocating speed The maximum processing speed preset by the processing machine 10 represents the overall pick-and-place flow and the space for acceleration. The controller 30 will first increase the current processing speed 64, and then recalculate the minimum pick-and-drop speed 60, and confirm the re Whether the calculated minimum pick-and-place speed 60 is less than or equal to the maximum operating speed, calculated by the overlay iteration until the minimum take-off speed 60 is equal to the maximum operating speed or the processing speed 64 is equal to the maximum processing preset by the reciprocating machine 10. Speed 64, which can be considered as an optimized state. The third case: when the minimum take-off speed 60 is greater than the maximum operating speed, this represents the robot When the arm 20 and the other robot arm 22 will collide, the controller 30 will jump out of the warning while suspending the operation of the robot arm 20 and the other robot arm 22.

Next, please refer to FIG. 4. FIG. 4 is a schematic diagram of a third embodiment of a reciprocating machine and a robotic arm pick-and-place integration system according to the present invention. In FIG. 4, when the reciprocating machine 10 is in multiple stages, such as a continuous processing machine series configuration, the robot arm 20 and the other robot arm 22 can perform the reclaiming and discharging operations between the plurality of reciprocating processing machines 10. . The controller 30 can simultaneously collect the rotation angles of the rotating shafts 105, 125, and 145 detected by the measuring devices 103, 123, and 143 in the reciprocating processing machines 10, 12, and 14, thereby calculating the linear axes 107, 127, and 147. The stroke position is calculated, and the machining speed 64 of the reciprocating machines 10, 12 and 14 is calculated based on the stroke position. On the other hand, the controller 30 adjusts the pick-and-place time and the pick-and-place speed of the robot arm 20 and the other robot arm 22 according to the processing speed 64 of the duplexing machines 10, 12 and 14, and determines whether the reciprocating processing needs to be adjusted. The processing speeds 64 of machines 10, 12 and 14 optimize the overall pick and place flow.

On the other hand, when the robot arm 20 is finished, the controller 30 calculates how much of the discharge speed 60 the robot arm 20 needs to move to the reciprocating machine 12 to perform the discharge operation based on the stroke position of the linear shaft 127. By analogy, the controller 30 calculates how much of the discharge speed 60 the robot arm 22 needs to move to the reciprocating machine 14 to perform the discharge operation based on the stroke position of the linear axis 147. In this way, after the robot arm 20 and the other robot arm 22 perform the reclaiming work of the reciprocating processing machine 10 and the reciprocating processing machine 12, the reciprocating processing machine 12 and the reciprocating processing machine 14 can be immediately executed. The material operation does not need to wait until the linear axis 127 and the linear axis 147 return to the upper position at the waiting point to reduce the overall picking and processing flow speed.

Figure 5 is a schematic illustration of a fourth embodiment of a reciprocating machine and robotic arm pick and place integration system in accordance with the present invention. In this embodiment, the controller 30 includes a built-in reciprocating machine The first sub-controllers 101, 104 and 106 of 10, 12 and 14 (such as the axis control system of reciprocating machines 10, 12 and 14) also include a second sub-control built into robot arms 20 and 22 The devices 102 and 103 (such as the axis control system of the robot arms 20 and 22). The first sub-controllers 101, 104, and 106 and the second sub-controllers 102 and 103 are connected to each other by a wired or wireless network, and are used to collect the rotating shafts 105 detected by the measuring devices 103, 123, and 143, The rotation angles of 125 and 145, in turn, calculate the stroke positions of the linear axes 107, 127, and 147, and calculate the machining speed 64 of the reciprocating machines 10, 12, and 14 based on the stroke positions. On the other hand, the first sub-controllers 101, 104 and 106 and the second sub-controllers 102 and 103 adjust the pick-and-place time and take-up of the robot arms 20 and 22 according to the processing speed 64 of the duplexing machines 10, 12 and 14. The speed is set, and it is judged whether or not the processing speed 64 of the reciprocating processing machines 10, 12, and 14 needs to be adjusted to optimize the overall pick-and-place process, and the judgment flow is the same as the above.

Next, please refer to FIG. 6 and cooperate with FIG. 2 and FIG. 3 at the same time. FIG. 6 is a flow chart showing the efficiency optimization of the reciprocating processing machine and the robot arm pick-and-place integration system of the present invention. In this embodiment, the two robot arms are combined with a reciprocating processing machine as an example to illustrate the optimization process of the pick-and-place efficiency of the present invention. First, the retracting time point T ₂ of the robot arm 20 and the discharging of the robot arm 22 are taken. After the time point T _{1 is set} and the pick-and-place contact point T _{S of the} robot arm 20 and the robot arm 22 is completed, the efficiency optimization process of the reciprocating machine and the robot arm pick-and-place integration system disclosed in the present invention is performed. In step 80, the minimum retraction speed 62 required by the robot arm 20 is calculated from the moving distance of the robot arm 20 and the time from the take-up time point T ₂ to the take-off point T _S ; and then, step 81, by the machine a moving distance of the arm 22 and the discharge taking the convergence point _S T to calculate the minimum discharge rate required for the robot 22 60 times the discharge time point T _1. In another embodiment, the order of step 80 and step 81 can be interchanged. Next, in step 82, the minimum retraction of the robot arm and the minimum discharge speed are determined by the maximum speed of the robot arm. In step 82, the minimum reclaiming speed 62 and the minimum discharging speed 60 calculated by the foregoing steps 80 and 81 are determined by the magnitude of the maximum speed of the robot arm 20 and the other robot arm 22, if the minimum reclaiming speed 62 and The minimum discharge speed 60 is less than the maximum speed of the robot arm 20 and the other robot arm 22. Then, the routine proceeds to step 84 where it is determined whether the reciprocating machine 10 can be accelerated. In step 84, it is determined whether the reciprocating machine 10 can also increase the speed. If the reciprocating machine 10 can also increase the speed, the process proceeds to step 86, where the processing speed 64 of the reciprocating machine 10 is increased. The efficiency optimization process of the reciprocating machine and the robotic arm pick-and-place integration system will return to step 80 and step 81 to recalculate the minimum reclaiming speed 62 and the minimum discharging speed 60. If the reciprocating processing machine 10 cannot increase the speed, then Proceeding to step 85, it is determined that optimization has been achieved.

In step 82, the minimum take-up speed 62 and the minimum discharge speed 60 calculated by steps 80 and 81 are used to determine the magnitude of the maximum speed of the robot arm 20 and the other robot arm 22, if the minimum take-up speed 62 and the minimum When the discharge speed 60 is greater than the maximum speed of the robot arm 20 and the other robot arm 22, the process proceeds to step 83, and the collision warning is triggered to stop the operation. In step 83, the collision warning is a reciprocating machine that jumps out of the warning by the controller 30 and simultaneously suspends the operation of the robot arm 20 and the other robot arm 22, and the robot arm 20 is signally connected to the other robot arm 22. 10 and other robotic arms 20 and another robotic arm 22 will also receive a pause warning and stop functioning. In another case, if the minimum take-up speed 62 and the minimum discharge speed 60 are equal to the maximum speed of the robot arm 20, the routine proceeds to step 85 where it is determined that optimization has been achieved.

The above is only the preferred embodiment of the present invention, and the equivalent modification or variation according to the spirit of the present invention, the system architecture of the reciprocating processing machine and the mechanical arm pick-and-place integration system according to the same concept should be It is still within the scope of this creation.

Claims (10)

A reciprocating processing machine and a robotic arm pick-and-place integration system, comprising: at least one reciprocating processing machine having a rotating shaft and a measuring device, wherein the measuring device is disposed on the rotating shaft, and the rotating shaft is used to drive The reciprocating processing machine and the measuring device are configured to measure a rotation angle of the reciprocating processing machine; a controller is connected to the reciprocating processing machine by a signal communication method, and the reciprocating processing machine is The rotation angle is calculated to obtain a processing speed of the reciprocating processing machine; and at least one robot arm is connected to the controller by the signal communication method, and the controller is based on a safety range of the reciprocating processing machine The processing speed determines a pick-and-drop section of the robot arm, and the controller calculates a minimum pick-and-drop speed of the robot arm according to the pick-and-drop section and a pick-and-drop path of the robot arm, so that the control The device compares the minimum take-off speed with a maximum operating speed of the robot arm to determine whether to adjust the machining speed. The reciprocating machine and the robotic arm pick and place integration system according to claim 1, wherein the controller comprises at least one first sub-controller disposed in the reciprocating processing machine and at least one disposed in the robot arm a second sub-controller, the first sub-controller and the second sub-controller calculate the processing speed of the reciprocating processing machine according to the rotation angle of the reciprocating processing machine, and according to the safety range and the reciprocating processing The processing speed of the machine determines the picking and discharging interval, and the first sub-controller and the second sub-controller calculate the minimum pick-and-drop speed according to the picking and discharging interval and the picking and discharging path, and by using the The first sub-controller and the second sub-controller compare the minimum pick-and-drop speed with the maximum operating speed, thereby determining whether to adjust the processing speed. The reciprocating processing machine and the robot arm pick and place integration system according to claim 1 or 2, wherein when the minimum picking and discharging speed is less than the maximum operating speed, the controller further determines the processing speed and the reciprocating processing. a relationship between the maximum machining speed of the machine, when the machining speed is less than the maximum machining speed, the controller recalculates the minimum take-off speed via the overlay generation until the minimum take-off speed is equal to the maximum operating speed or This processing speed is equal to the maximum processing speed. The reciprocating processing machine and the robotic arm pick and place integration system according to claim 1 or 2, wherein when the picking and discharging speed is greater than the maximum operating speed, the controller will jump out of the warning message and suspend the reciprocating processing machine. Operation. The reciprocating machine and the robotic arm pick and place integration system of claim 1 or 2, wherein the measuring device is an encoder or a resolver. The reciprocating processing machine and the robot arm pick-and-place integration system according to claim 2, wherein the first sub-controller and the second sub-controller are respectively a reciprocating processing machine and a shaft control system of the robot arm. The reciprocating machine and the robotic arm pick and place integration system of claim 1 or 2, wherein the robot arm is removed or placed by a machining point of the reciprocating machine. The reciprocating machine and the robot arm pick-and-place integration system according to claim 7, wherein the controller calculates the safety according to a linear position of the reciprocating processing machine at a position in the machining point and the machining point position. range. The reciprocating processing machine and the robot arm pick-and-place integration system according to claim 1, wherein the take-and-release section comprises a take-out time point and a discharge time point, and the take-off time point is allowed The robot arm takes a start time of the processed workpiece, and the robot arm places a workpiece to be processed before the discharge time point. The reciprocating processing machine and the robot arm pick-and-place integration system according to claim 9, wherein the picking and discharging section further comprises a picking and discharging joint point, and the picking and discharging joint point may be the picking time point and the placing Any point between the time points of the material, so that the robot arm needs to take off the processed workpiece within the range of the take-off time point and the pick-and-discharge connection point, and connect with the pick-and-place material at the discharge time point. Place the workpiece to be machined within the range of points.