WO2016165168A1 - Control system and control method for mechanical arm - Google Patents

Control system and control method for mechanical arm Download PDF

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Publication number
WO2016165168A1
WO2016165168A1 PCT/CN2015/078071 CN2015078071W WO2016165168A1 WO 2016165168 A1 WO2016165168 A1 WO 2016165168A1 CN 2015078071 W CN2015078071 W CN 2015078071W WO 2016165168 A1 WO2016165168 A1 WO 2016165168A1
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WO
WIPO (PCT)
Prior art keywords
controller
solenoid valve
electromagnetic valve
workpiece
electrically connected
Prior art date
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PCT/CN2015/078071
Other languages
French (fr)
Chinese (zh)
Inventor
吴春谅
唐家平
戚青涛
林卫波
Original Assignee
深圳市京田精密科技有限公司
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Publication date
Priority to CN201510180872.5A priority Critical patent/CN104786089B/en
Priority to CN201510180872.5 priority
Application filed by 深圳市京田精密科技有限公司 filed Critical 深圳市京田精密科技有限公司
Publication of WO2016165168A1 publication Critical patent/WO2016165168A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers

Abstract

Disclosed are a control system and control method for a mechanical arm. The system comprises: a feed mechanism, a first solenoid valve, a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a servo motor, a fifth solenoid valve, and a controller. The controller is electrically connected respectively to the feed mechanism, the first solenoid valve, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, the servo motor, and the fifth solenoid valve. Beneficial effects of implementing the present invention are such that, by stringing into a startup program of a computerized lathe, the control system is broadly applicable in numerical control machine tools and machining centers, seamless docking between the computerized lathe and the mechanical arm is implemented, and fully automated unmanned machining is implemented.

Description

说明书 发明名称:一种机械手臂的控制系统及控制方法 技术领域  Description: The control system and control method of a robot arm
[0001] 本发明涉及机械手臂应用技术领域, 尤其涉及一种机械手臂的控制系统及控制 方法。  [0001] The present invention relates to the field of mechanical arm application technologies, and in particular, to a control system and a control method for a robot arm.
背景技术  Background technique
[0002] 数控机床是一种装有程序控制系统的自动化机床。 该控制系统能够逻辑地处理 具有控制编码或其他符号指令规定的程序, 并将其译码, 用代码化的数字表示 , 通过信息载体输入数控装置。 经运算处理由数控装置发出各种控制信号, 控 制机床的动作, 按图纸要求的形状和尺寸, 自动地将零件加工出来。 数控机床 较好地解决了复杂、 精密、 小批量、 多品种的零件加工问题, 是一种柔性的、 高效能的自动化机床, 代表了现代机床控制技术的发展方向, 是一种典型的机 电一体化产品。  [0002] A CNC machine tool is an automated machine tool with a program control system. The control system is capable of logically processing a program having control code or other symbolic instructions and decoding it, using a coded digital representation, input to the numerical control device via the information carrier. Through the arithmetic processing, various control signals are issued by the numerical control device to control the movement of the machine tool, and the parts are automatically processed according to the shape and size required by the drawings. The CNC machine tool solves the complex, precise, small batch and multi-variety parts processing problem. It is a flexible and high-efficiency automatic machine tool, which represents the development direction of modern machine tool control technology. It is a typical electromechanical integration. Chemical products.
[0003] 数控机床的机械手臂能模仿人手和臂的某些动作功能, 用以按固定程序抓取、 搬运物件或操作工具的自动操作装置。 机械手是最早出现的工业机器人, 也是 最早出现的现代机器人, 它可代替人的繁重劳动以实现生产的机械化和自动化 , 能在有害环境下操作以保护人身安全。  [0003] The mechanical arm of a CNC machine tool can mimic some of the motion functions of the human hand and the arm, and is used to grasp, transport, or operate the tool's automatic operating device in a fixed procedure. The robot is the earliest industrial robot, and it is also the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety.
[0004] 目前已有技术均为数控车床或加工中心的制定的专用机械手臂其主要缺点为控 制电路成本高, 操作工的能力有要求, 而且不易修改其动作程式。  [0004] At present, the prior art has a dedicated mechanical arm developed by a numerically controlled lathe or a machining center. The main disadvantage is that the control circuit has high cost, the ability of the operator is required, and it is not easy to modify its action program.
技术问题  technical problem
[0005] 有鉴于此, 本发明的目的在于提供一种机械手臂的控制系统及控制方法, 旨在 解决现有技术中控制电路成本高, 操作工的能力有要求, 而且不易修改其动作 程式的技术问题。  In view of the above, an object of the present invention is to provide a control system and a control method for a robot arm, which are intended to solve the problem that the control circuit in the prior art has high cost, the capability of the operator is required, and the action program is not easily modified. technical problem.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0006] 本发明的技术方案实现如下: [0006] The technical solution of the present invention is implemented as follows:
[0007] 提供一种机械手臂的控制系统, 包括: [0008] 用于提供工件的送料机构; [0007] A control system for a robot arm is provided, including: a feeding mechanism for providing a workpiece;
[0009] 用于驱动滑台气缸牵引送料夹具及取料夹具沿第一方向移动预设行程的第一电 磁阀;  [0009] a first electromagnetic valve for driving the slide cylinder to pull the feeding jig and the retracting jig to move the preset stroke in the first direction;
[0010] 用于驱动推料气缸将所述工件推入所述送料夹具的第二电磁阀;  [0010] a second electromagnetic valve for driving the push cylinder to push the workpiece into the feed clamp;
[0011] 用于驱动所述送料夹具夹紧所述工件并沿第二方向移动预设行程的第三电磁阀  [0011] a third solenoid valve for driving the feeding clamp to clamp the workpiece and moving the preset stroke in the second direction
[0012] 用于驱动摆台气缸带动所述滑台气缸旋转的第四电磁阀; [0012] a fourth electromagnetic valve for driving the pendulum cylinder to drive the sliding cylinder;
[0013] 用于带动所述滑台气缸沿第三方向移动预设行程的伺服电机; [0013] a servo motor for driving the slide cylinder to move a predetermined stroke in the third direction;
[0014] 用于驱动取料夹具取出并夹紧所述工件以将其放至输送带的预设位置的第五电 磁阀; 以及 [0014] a fifth electromagnetic valve for driving the take-up jig to take out and clamp the workpiece to place it at a preset position of the conveyor belt;
[0015] 用于控制所述送料机构、 所述第一电磁阀、 所述第二电磁阀、 所述第三电磁阀 、 所述第四电磁阀、 所述伺服电机以及所述第五电磁阀工作的控制器, 其分别 电性连接于所述送料机构、 所述第一电磁阀、 所述第二电磁阀、 所述第三电磁 阀、 所述第四电磁阀、 所述伺服电机以及所述第五电磁阀。  [0015] for controlling the feeding mechanism, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve, the servo motor, and the fifth electromagnetic valve a working controller electrically connected to the feeding mechanism, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve, the servo motor, and the Said fifth solenoid valve.
[0016] 在本发明所述的控制系统中, 还包括:  [0016] In the control system of the present invention, the method further includes:
[0017] 用于控制所述第一电磁阀幵关的第一继电器, 所述第一继电器包括第一幵关及 第一线圈, 所述第一幵关电性连接于所述第一电磁阀与所述控制器之间, 所述 第一线圈电性连接于所述控制器;  [0017] a first relay for controlling the first electromagnetic valve to be closed, the first relay includes a first switch and a first coil, and the first switch is electrically connected to the first electromagnetic valve The first coil is electrically connected to the controller;
[0018] 用于控制所述第二电磁阀幵关的第二继电器, 所述第二继电器包括第二幵关及 第二线圈, 所述第二幵关电性连接于所述第二电磁阀与所述控制器之间, 所述 第二线圈电性连接于所述控制器; [0018] a second relay for controlling the second electromagnetic valve to be closed, the second relay includes a second switch and a second coil, and the second switch is electrically connected to the second solenoid valve The second coil is electrically connected to the controller;
[0019] 用于控制所述第三电磁阀幵关的第三继电器, 所述第三继电器包括第三幵关及 第三线圈, 所述第三幵关电性连接于所述第三电磁阀与所述控制器之间, 所述 第三线圈电性连接于所述控制器; [0019] a third relay for controlling the third electromagnetic valve to be closed, the third relay includes a third switch and a third coil, and the third switch is electrically connected to the third solenoid valve The third coil is electrically connected to the controller;
[0020] 用于控制所述第四电磁阀幵关以驱动所述摆台气缸逆吋针旋转的第四继电器, 所述第四继电器包括第四幵关及第四线圈, 所述第四幵关电性连接于所述第四 电磁阀与所述控制器之间, 所述第四线圈电性连接于所述控制器; [0020] a fourth relay for controlling the fourth solenoid valve to drive the swinging cylinder to rotate the counterclockwise pin, the fourth relay includes a fourth switch and a fourth coil, the fourth turn Electrically connected between the fourth solenoid valve and the controller, the fourth coil is electrically connected to the controller;
[0021] 用于控制伺服电机幵关的第五继电器, 其电性连接于所述控制器; [0022] 用于控制所述第五电磁阀幵关的第六继电器, 所述第六继电器包括第六幵关及 第六线圈, 所述第六幵关电性连接于所述第六电磁阀与所述控制器之间, 所述 第六线圈电性连接于所述控制器; [0021] a fifth relay for controlling a servo motor to be electrically connected to the controller; [0022] a sixth relay for controlling the fifth electromagnetic valve to be closed, the sixth relay includes a sixth switch and a sixth coil, and the sixth switch is electrically connected to the sixth electromagnetic valve The sixth coil is electrically connected to the controller;
[0023] 用于控制所述第四电磁阀幵关以驱动所述摆台气缸顺吋针旋转的第七继电器, 所述第七继电器包括第七幵关及第七线圈, 所述第七幵关电性连接于所述第七 电磁阀与所述控制器之间, 所述第七线圈电性连接于所述控制器。  [0023] a seventh relay for controlling the fourth solenoid valve to drive the swinging of the pendulum cylinder, the seventh relay comprising a seventh switch and a seventh coil, the seventh switch The electrical connection between the seventh solenoid valve and the controller is electrically connected, and the seventh coil is electrically connected to the controller.
[0024] 在本发明所述的控制系统中, 还包括:  [0024] In the control system of the present invention, the method further includes:
[0025] 用于控制安全门关闭及加工程序幵关的第八继电器, 其电性连接于所述控制器 [0026] 在本发明所述的控制系统中, 还包括:  [0025] The eighth relay for controlling the safety gate closing and the machining program is electrically connected to the controller. [0026] In the control system of the present invention, the method further includes:
[0027] 用于幵启所述安全门并反馈信号至所述控制器的感应幵关, 其电性连接于所述 控制器。  [0027] An induction switch for activating the safety gate and feeding back a signal to the controller is electrically connected to the controller.
[0028] 在本发明所述的控制系统中, 还包括:  [0028] In the control system of the present invention, the method further includes:
[0029] 用于启动所述控制系统的启动幵关, 其连接于外部交流电源并电性连接于所述 控制器。  [0029] an activation switch for activating the control system, which is connected to an external AC power source and electrically connected to the controller.
[0030] 另一方面, 提供一种机械手臂的控制方法, 提供上述控制系统, 包括以下步骤 [0031] Sl、 送料机构提供工件;  [0030] In another aspect, a method for controlling a robot arm is provided, and the foregoing control system is provided, including the following steps: [0031] Sl, a feeding mechanism provides a workpiece;
[0032] S2、 第一电磁阀驱动滑台气缸牵引送料夹具及取料夹具沿第一方向移动预设行 程;  [0032] S2, the first electromagnetic valve drives the slide cylinder traction feeding clamp and the feeding clamp to move the preset stroke in the first direction;
[0033] S3、 第二电磁阀驱动推料气缸将所述工件推入所述送料夹具;  [0033] S3, the second solenoid valve drives the push cylinder to push the workpiece into the feeding fixture;
[0034] S4、 第三电磁阀驱动所述送料夹具夹紧所述工件并沿第二方向移动预设行程; [0035] S5、 第四电磁阀驱动摆台气缸带动所述滑台气缸旋转; [0034] S4, the third electromagnetic valve drives the feeding clamp to clamp the workpiece and moves the preset stroke in the second direction; [0035] S5, the fourth electromagnetic valve drives the pendulum cylinder to drive the sliding cylinder to rotate;
[0036] S6、 伺服电机带动所述滑台气缸沿第三方向移动预设行程; [0036] S6, the servo motor drives the slide cylinder to move in a third direction by a preset stroke;
[0037] S7、 第五电磁阀驱动取料夹具取出并夹紧所述工件以将其放至输送带的预设位 置。 [0037] S7. The fifth solenoid valve drives the take-up jig to take out and clamp the workpiece to place it at a preset position of the conveyor belt.
[0038] 在本发明所述的控制方法中, 所述步骤 S4还包括: 所述送料夹具夹紧所述工件 到达预设行程后, 控制器控制所述第一电磁阀及所述第二电磁阀停止工作, 从 而使所述滑台气缸及所述推料气缸回归原位。 [0038] In the control method of the present invention, the step S4 further includes: after the feeding jig clamps the workpiece to a preset stroke, the controller controls the first electromagnetic valve and the second electromagnetic The valve stops working, from The slide cylinder and the push cylinder are returned to the original position.
[0039] 在本发明所述的控制方法中, 所述步骤 S6包括中:  [0039] In the control method of the present invention, the step S6 includes:
[0040] 所述控制器控制伺服电机转动, 从而带动所述滑台气缸沿第三方向移动预设行 程。  And [0040] the controller controls the rotation of the servo motor to drive the sliding cylinder to move the preset stroke in the third direction.
[0041] 在本发明所述的控制方法中, 所述步骤 S7包括以下子步骤:  [0041] In the control method of the present invention, the step S7 includes the following sub-steps:
[0042] S701、 所述控制器控制所述第一电磁阀工作, 从而使所述滑台气缸向所述第一 方向移动预设行程;  [0042] S701, the controller controls the first solenoid valve to operate, so that the slide cylinder moves the preset stroke in the first direction;
[0043] S702、 所述控制器控制所述伺服电机的主轴夹具松幵所述工件; [0043] S702, the controller controls a spindle fixture of the servo motor to loose the workpiece;
[0044] S703、 所述第五电磁阀驱动取料夹具取出并夹紧所述工件; [0044] S703, the fifth electromagnetic valve drives the take-up jig to take out and clamp the workpiece;
[0045] S704、 所述控制器控制所述第一电磁阀停止工作, 所述滑台气缸回归原位; [0046] S705、 所述第四电磁阀驱动摆台气缸带动所述滑台气缸旋转; [0045] S704, the controller controls the first electromagnetic valve to stop working, and the sliding cylinder returns to the original position; [0046] S705, the fourth electromagnetic valve drives the pendulum cylinder to drive the sliding cylinder to rotate ;
[0047] S706、 所述第一电磁阀驱动滑台气缸牵引送料夹具及取料夹具沿第一方向移动 预设行程; [0047] S706, the first electromagnetic valve drives the slide cylinder traction feeding clamp and the take-up clamp to move in a first direction by a preset stroke;
[0048] S707、 所述控制器控制所述伺服电机的主轴夹具夹紧所述工件;  [0048] S707, the controller controls a spindle clamp of the servo motor to clamp the workpiece;
[0049] S708、 所述控制器控制所述第三电磁阀停止工作, 从而使所述送料夹具松幵所 述工件;  [0049] S708, the controller controls the third electromagnetic valve to stop working, so that the feeding jig loosens the workpiece;
[0050] S709、 所述控制器控制所述第一电磁阀停止工作, 所述滑台气缸回归原位; [0050] S709, the controller controls the first electromagnetic valve to stop working, and the sliding cylinder returns to the original position;
[0051] S710、 所述伺服电机带动所述滑台气缸沿第三方向移动回原点; [0051] S710, the servo motor drives the slide cylinder to move back to the origin in the third direction;
[0052] S711、 所述控制器控制第八继电器以使安全门关闭并启动加工程序;  [0052] S711, the controller controls the eighth relay to close the safety gate and start a machining program;
[0053] S712、 所述控制器控制所述第五电磁阀停止工作, 从而使所述取料夹具松幵所 述工件以将其放至输送带的预设位置。  [0053] S712. The controller controls the fifth electromagnetic valve to stop working, so that the retracting jig loosens the workpiece to place it to a preset position of the conveyor belt.
[0054] 在本发明所述的控制方法中, 所述步骤 S7还包括: [0054] In the control method of the present invention, the step S7 further includes:
[0055] S713、 在所述步骤 S712之后, 当所述工件依据加工程序加工完成后, 幵启所述 安全门并反馈信号至所述控制器;  [0055] S713, after the step S712, after the workpiece is processed according to the processing program, the safety gate is opened and a signal is fed back to the controller;
[0056] S714、 所述控制器判断所述工件加工完成, 转至步骤 Sl。 [0056] S714. The controller determines that the workpiece processing is completed, and proceeds to step S1.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0057] 因此, 本发明的有益效果是, 通过串入电脑车床的启动程序, 该控制系统可广 泛应用于数控机床及加工中心, 实现电脑车床和机械手臂的无缝对接, 实现全 自动的无人化加工。 [0057] Therefore, the beneficial effects of the present invention are that the control system can be widely used by a startup program that is serially connected to a computer lathe. It is widely used in CNC machine tools and machining centers to realize the seamless docking of computer lathes and robotic arms, enabling automatic unmanned machining.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0058] 下面将结合附图及实施例对本发明作进一步说明, 附图中:  [0058] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:
[0059] 图 1为本发明提供的一种机械手臂的控制系统的结构示意图; 1 is a schematic structural view of a control system for a robot arm according to the present invention;
[0060] 图 2为本发明提供的一种机械手臂的控制方法的流程图; 2 is a flow chart of a method for controlling a mechanical arm according to the present invention;
[0061] 图 3为本发明提供的机器人的机构示意图; 3 is a schematic diagram of a mechanism of a robot provided by the present invention;
[0062] 图 4为本发明提供的车窗侧面安装示意图; [0062] FIG. 4 is a schematic side view showing the side view of a window provided by the present invention;
[0063] 图 5为本发明提供的加工中心侧面安装示意图。 [0063] FIG. 5 is a schematic side view showing the machining center provided by the present invention.
本发明的实施方式 Embodiments of the invention
[0064] 为了对本发明的技术特征、 目的和效果有更加清楚的理解, 以下将对照附图详 细说明本发明的具体实施方式。 应当理解, 以下说明仅为本发明实施例的具体 阐述, 不应以此限制本发明的保护范围。  [0064] In order to more clearly understand the technical features, objects and effects of the present invention, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the following description is only illustrative of the embodiments of the present invention and should not be construed as limiting the scope of the invention.
[0065] 本发明提供一种机械手臂的控制系统 100及控制方法, 其目的在于, 在数控机 床等场合的机械臂的应用中, 设计简单、 重复、 固定的机械动作代替人工, 通 过采用简单的控制系统 100及低成本电子元件进行技术优化实现其易用性及经济 性, 其主要控制的是伺服电机 106的工作程序, 例如前进后退和自动送取工件。 故在本发明中, 机器人也特指该机械手臂的控制系统 100。  [0065] The present invention provides a control system 100 for a robot arm and a control method thereof. The purpose of the invention is to design a simple, repeated, fixed mechanical action instead of manual in the application of a mechanical arm in a numerically controlled machine tool or the like, by adopting a simple The control system 100 and low-cost electronic components are technically optimized to achieve ease of use and economy. The main control is the working procedure of the servo motor 106, such as forward and backward and automatic feeding of workpieces. Therefore, in the present invention, the robot also refers specifically to the control system 100 of the robot arm.
[0066] 参见图 1, 图 1为本发明提供的一种机械手臂的控制系统 100的结构示意图, 该 机械手臂的控制系统 100包括:  [0066] Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a control system 100 for a robot arm according to the present invention. The control system 100 of the robot arm includes:
[0067] 用于提供工件的送料机构 101 ; 送料机构 101—般包括振动盘 1, 振动盘 1内部设 置有振动盘 1马达, 通过控制器 108电性连接至振动盘 1马达, 从而将处于振动盘 1处的工件送入料槽 2。  [0067] A feeding mechanism 101 for providing a workpiece; the feeding mechanism 101 generally includes a vibrating disc 1 in which a vibrating disc 1 motor is disposed, and is electrically connected to the vibrating disc 1 motor through a controller 108, thereby being vibrated The workpiece at the disc 1 is fed into the chute 2.
[0068] 用于驱动滑台气缸 8牵引送料夹具 6及取料夹具 5沿第一方向移动预设行程的第 一电磁阀 102; 送料夹具 6及取料夹具 5由夹具座 4固定于滑台气缸 8, 并设置于所 述夹具座 4的两端。 滑台气缸 8设置于工作主台 16的一侧, 可相对于工作主台 16 水平运动。 [0068] The first electromagnetic valve 102 for driving the slide cylinder 8 to pull the feeding jig 6 and the retracting jig 5 to move the preset stroke in the first direction; the feeding jig 6 and the retrieving jig 5 are fixed to the sliding table by the jig 4 The cylinders 8 are disposed at both ends of the clamp base 4. The slide cylinder 8 is disposed on one side of the working main table 16 and is opposite to the working main table 16 Horizontal movement.
[0069] 用于驱动推料气缸 3将所述工件推入所述送料夹具 6的第二电磁阀 103;  [0069] a second solenoid valve 103 for driving the push cylinder 3 to push the workpiece into the feed clamp 6;
[0070] 用于驱动所述送料夹具 6夹紧所述工件并沿第二方向移动预设行程的第三电磁 阀 104; [0070] a third electromagnetic valve 104 for driving the feeding jig 6 to clamp the workpiece and move the preset stroke in the second direction;
[0071] 用于驱动摆台气缸 7带动所述滑台气缸 8旋转的第四电磁阀 105; 摆台气缸 7设置 于滑台气缸 8及夹具座 4之间, 可于水平面的垂直方向上做旋转运动。  [0071] a fourth solenoid valve 105 for driving the swing cylinder 7 to rotate the slide cylinder 8; the swing cylinder 7 is disposed between the slide cylinder 8 and the clamp base 4, and can be made in the vertical direction of the horizontal plane Rotating motion.
[0072] 用于带动所述滑台气缸 8沿第三方向移动预设行程的伺服电机 106; 伺服电机 10 6设置于工作主台 16表面, 可通过其内部的伺服马达驱动向振动盘 1方向运动。  [0072] a servo motor 106 for driving the slide cylinder 8 to move in a third direction by a predetermined stroke; the servo motor 106 is disposed on the surface of the working main table 16 and can be driven to the vibrating plate 1 by the internal servo motor thereof. motion.
[0073] 用于驱动取料夹具 5取出并夹紧所述工件以将其放至输送带的预设位置的第五 电磁阀 107; 以及  [0073] a fifth solenoid valve 107 for driving the take-up jig 5 to take out and clamp the workpiece to place it at a preset position of the conveyor belt;
[0074] 用于控制所述送料机构 101、 所述第一电磁阀 102、 所述第二电磁阀 103、 所述 第三电磁阀 104、 所述第四电磁阀 105、 所述伺服电机 106以及所述第五电磁阀 10 7工作的控制器 108, 其分别电性连接于所述送料机构 101、 所述第一电磁阀 102 、 所述第二电磁阀 103、 所述第三电磁阀 104、 所述第四电磁阀 105、 所述伺服电 机 106以及所述第五电磁阀 107。 控制器 108也为程序控制器 108。 控制器 108是触 屏形式的, 可以外接电脑编程, 也可独立编程。  [0074] for controlling the feeding mechanism 101, the first electromagnetic valve 102, the second electromagnetic valve 103, the third electromagnetic valve 104, the fourth electromagnetic valve 105, the servo motor 106, and The controller 108 of the fifth electromagnetic valve 107 is electrically connected to the feeding mechanism 101, the first electromagnetic valve 102, the second electromagnetic valve 103, the third electromagnetic valve 104, The fourth solenoid valve 105, the servo motor 106, and the fifth solenoid valve 107. Controller 108 is also a program controller 108. The controller 108 is in the form of a touch screen and can be programmed externally or independently.
[0075] 此外, 所述的控制系统 100还包括:  [0075] In addition, the control system 100 further includes:
[0076] 用于控制所述第一电磁阀 102幵关的第一继电器 109, 所述第一继电器 109包括 第一幵关 1091及第一线圈 1092, 所述第一幵关 1091电性连接于所述第一电磁阀 1 02与所述控制器 108之间, 所述第一线圈 1092电性连接于所述控制器 108;  [0076] a first relay 109 for controlling the first electromagnetic valve 102 to be closed, the first relay 109 includes a first switch 1091 and a first coil 1092, and the first switch 1091 is electrically connected to Between the first solenoid valve 102 and the controller 108, the first coil 1092 is electrically connected to the controller 108;
[0077] 用于控制所述第二电磁阀 103幵关的第二继电器 110, 所述第二继电器 110包括 第二幵关 1101及第二线圈 1102, 所述第二幵关 1101电性连接于所述第二电磁阀 1 03与所述控制器 108之间, 所述第二线圈 1102电性连接于所述控制器 108;  [0077] a second relay 110 for controlling the second solenoid valve 103, the second relay 110 includes a second switch 1101 and a second coil 1102, and the second switch 1101 is electrically connected to Between the second solenoid valve 103 and the controller 108, the second coil 1102 is electrically connected to the controller 108;
[0078] 用于控制所述第三电磁阀 104幵关的第三继电器 111, 所述第三继电器 111包括 第三幵关 1111及第三线圈 1112, 所述第三幵关 1111电性连接于所述第三电磁阀 1 04与所述控制器 108之间, 所述第三线圈 1112电性连接于所述控制器 108;  [0078] a third relay 111 for controlling the third electromagnetic valve 104 to be closed, the third relay 111 includes a third switch 1111 and a third coil 1112, and the third switch 1111 is electrically connected to Between the third solenoid valve 104 and the controller 108, the third coil 1112 is electrically connected to the controller 108;
[0079] 用于控制所述第四电磁阀 105幵关以驱动所述摆台气缸 7逆吋针旋转的第四继电 器 112, 所述第四继电器 112包括第四幵关 1121及第四线圈 1122, 所述第四幵关 1 121电性连接于所述第四电磁阀 105与所述控制器 108之间, 所述第四线圈 1122电 性连接于所述控制器 108; [0079] a fourth relay 112 for controlling the fourth solenoid valve 105 to drive the swing cylinder 7 to rotate counterclockwise, the fourth relay 112 includes a fourth switch 1121 and a fourth coil 1122 , the fourth pass 1 121 is electrically connected between the fourth solenoid valve 105 and the controller 108, the fourth coil 1122 is electrically connected to the controller 108;
[0080] 用于控制伺服电机 106幵关的第五继电器 113, 其电性连接于所述控制器 108; [0080] a fifth relay 113 for controlling the servo motor 106 is electrically connected to the controller 108;
[0081] 用于控制所述第五电磁阀 107幵关的第六继电器 114, 所述第六继电器 114包括 第六幵关 1141及第六线圈 1142, 所述第六幵关 1141电性连接于所述第六电磁阀 与所述控制器 108之间, 所述第六线圈 1142电性连接于所述控制器 108; [0081] a sixth relay 114 for controlling the fifth electromagnetic valve 107, the sixth relay 114 includes a sixth switch 1141 and a sixth coil 1142, and the sixth switch 1141 is electrically connected to Between the sixth solenoid valve and the controller 108, the sixth coil 1142 is electrically connected to the controller 108;
[0082] 用于控制所述第四电磁阀 105幵关以驱动所述摆台气缸 7顺吋针旋转的第七继电 器 115, 所述第七继电器 115包括第七幵关 1151及第七线圈 1152, 所述第七幵关 1[0082] a seventh relay 115 for controlling the fourth solenoid valve 105 to drive the swinging cylinder 7 to rotate along the hammer, the seventh relay 115 includes a seventh switch 1151 and a seventh coil 1152 , the seventh pass 1
151电性连接于所述第七电磁阀与所述控制器 108之间, 所述第七线圈 1152电性 连接于所述控制器 108。 151 is electrically connected between the seventh electromagnetic valve and the controller 108, and the seventh coil 1152 is electrically connected to the controller 108.
[0083] 用于控制安全门关闭及加工程序幵关的第八继电器 116, 其电性连接于所述控 制器 108。 [0083] An eighth relay 116 for controlling the safety door closing and the machining program is electrically connected to the controller 108.
[0084] 用于幵启所述安全门并反馈信号至所述控制器 108的感应幵关 9, 其电性连接于 所述控制器 108。  [0084] An induction switch 9 for activating the safety gate and feeding back a signal to the controller 108 is electrically connected to the controller 108.
[0085] 用于启动所述控制系统 100的启动幵关 117, 其连接于外部交流电源并电性连接 于所述控制器 108。  [0085] A startup switch 117 for activating the control system 100 is connected to an external AC power source and electrically connected to the controller 108.
[0086] 参见图 2, 图 2为本发明提供的一种机械手臂的控制方法的流程图, 该机械手臂 的控制方法, 该方法上述控制系统 100, 包括以下步骤:  Referring to FIG. 2, FIG. 2 is a flowchart of a method for controlling a robot arm according to the present invention. The control method of the robot arm includes the following steps:
[0087] Sl、 送料机构 101提供工件; 例如, 按下启动幵关 117吋, 送料机马达启动, 自 动送料启动。 [0087] Sl, the feeding mechanism 101 provides the workpiece; for example, pressing the start switch 117 吋, the feeder motor is started, and the automatic feeding is started.
[0088] S2、 第一电磁阀 102驱动滑台气缸 8牵引送料夹具 6及取料夹具 5沿第一方向移动 预设行程; 例如, 启动电脑车床, 车床安全门打幵, 再点击触程序控制器 108 ( 触摸式) 上的幵关, 其控制系统 100启动, 程序控制器 108输出信号给 KM1线圈 (即第一线圈 1092) , KM1 (即第一幵关 1091) 常幵吸合, 使滑台汽缸启动并 向自动送料机料槽 2方向 (参见图 3, 图 3为本发明提供的机器人的机构示意图) 运动;  [0088] S2, the first electromagnetic valve 102 drives the slide cylinder 8 to pull the feeding jig 6 and the take-up jig 5 to move the preset stroke in the first direction; for example, start the computer lathe, the lathe safety door is snoring, and then click the touch controller On the 108 (touch type), the control system 100 is started, the program controller 108 outputs a signal to the KM1 coil (ie, the first coil 1092), and the KM1 (ie, the first switch 1091) is constantly sucked to make the slide table. The cylinder is started and moved in the direction of the automatic feeder chute 2 (see FIG. 3, FIG. 3 is a schematic diagram of the mechanism of the robot provided by the present invention);
[0089] S3、 第二电磁阀 103驱动推料气缸 3将所述工件推入所述送料夹具 6; 滑台汽缸 到达设定的位置后, 程序控制器 108输出信号给 KM2线圈 (即第二线圈 1102) , KM2 (即第二幵关 1101) 常幵闭合, 推料汽缸启动将工件推入送料夹具 6内, 到 推料汽缸设定行程后。 [0089] S3, the second solenoid valve 103 drives the push cylinder 3 to push the workpiece into the feeding jig 6; after the slide cylinder reaches the set position, the program controller 108 outputs a signal to the KM2 coil (ie, the second Coil 1102), KM2 (ie, the second switch 1101) is normally closed, and the push cylinder starts to push the workpiece into the feed jig 6, after the push cylinder is set to the stroke.
[0090] S4、 第三电磁阀 104驱动所述送料夹具 6夹紧所述工件并沿第二方向移动预设行 程; 所述送料夹具 6夹紧所述工件到达预设行程后, 控制器 108控制所述第一电 磁阀 102及所述第二电磁阀 103停止工作, 从而使所述滑台气缸 8及所述推料气缸 3回归原位。 程序控制器 108输出信号给 KM3线圈 (即第三线圈 1112) , KM3 ( 即第三幵关 1111) 常幵闭合, 使送料夹具 6夹紧工件。 随后, 送料夹具 6夹紧工 件达到设定行程后, 程序控制器 108断幵 KM1和 KM2线圈信号, KM1和 KM2常幵 断幵, 滑台汽缸和推料汽缸因断电 (因断电同吋失去空压或液压) 而回原位。  [0090] S4. The third electromagnetic valve 104 drives the feeding clamp 6 to clamp the workpiece and moves the preset stroke in the second direction. After the feeding fixture 6 clamps the workpiece to the preset stroke, the controller 108 The first solenoid valve 102 and the second solenoid valve 103 are controlled to stop, thereby returning the slide cylinder 8 and the push cylinder 3 to the original position. The program controller 108 outputs a signal to the KM3 coil (i.e., the third coil 1112), and KM3 (i.e., the third switch 1111) is normally closed, causing the feed jig 6 to clamp the workpiece. Subsequently, after the feeding jig 6 clamps the workpiece to the set stroke, the program controller 108 breaks the KM1 and KM2 coil signals, KM1 and KM2 are often broken, and the slide cylinder and the push cylinder are powered off (due to the power failure) Lose air pressure or hydraulic pressure) and return to the original position.
[0091] S5、 第四电磁阀 105驱动摆台气缸 7带动所述滑台气缸 8旋转; 例如, 程序控制 器 108输出信号到 KM4线圈 (即第四线圈 1122) , KM4 (即第四幵关 1121) 常幵 闭合, 三位摆台汽缸逆吋针旋转 180度。  [0091] S5, the fourth solenoid valve 105 drives the pendulum cylinder 7 to drive the slide cylinder 8 to rotate; for example, the program controller 108 outputs a signal to the KM4 coil (ie, the fourth coil 1122), KM4 (ie, the fourth pass) 1121) Normally closed, the three-position counter cylinder rotates 180 degrees counterclockwise.
[0092] S6、 伺服电机 106带动所述滑台气缸 8沿第三方向移动预设行程; 所述控制器 10 8控制伺服电机 106转动, 从而带动所述滑台气缸 8沿第三方向移动预设行程。 例 如, 夹具座 4旋转到设定行程吋, 程序控制器 108输出脉冲信号到电机控制器 108 , 伺服电机 106正转, 带滑台汽缸及送料夹具 6向前 (安全门方向) 移动。  [0092] S6, the servo motor 106 drives the slide cylinder 8 to move in a third direction by a preset stroke; the controller 108 controls the servo motor 106 to rotate, thereby driving the slide cylinder 8 to move in the third direction. Set the itinerary. For example, when the holder 4 is rotated to the set stroke 吋, the program controller 108 outputs a pulse signal to the motor controller 108, and the servo motor 106 rotates forward, with the slide cylinder and the feed jig 6 moving forward (safety door direction).
[0093] S7、 第五电磁阀 107驱动取料夹具 5取出并夹紧所述工件以将其放至输送带的预 设位置。 其中, 所述步骤 S7包括以下子步骤:  [0093] S7. The fifth solenoid valve 107 drives the take-up jig 5 to take out and clamp the workpiece to place it in the preset position of the conveyor belt. The step S7 includes the following sub-steps:
[0094] S701、 所述控制器 108控制所述第一电磁阀 102工作, 从而使所述滑台气缸 8向 所述第一方向移动预设行程; 例如, 伺服电机 106由程序控制向前移动至设定位 置吋, 程序控制器 108输出信号到 KM1线圈, KM1常幵闭合, 滑台汽缸向电脑车 床夹头方向移动。  [0094] S701, the controller 108 controls the first solenoid valve 102 to operate, thereby moving the slide cylinder 8 to the first direction by a preset stroke; for example, the servo motor 106 is moved forward by a program control To the set position 吋, the program controller 108 outputs a signal to the KM1 coil, KM1 is normally closed, and the slide cylinder moves toward the computer lathe chuck.
[0095] S702、 所述控制器 108控制所述伺服电机 106的主轴夹具松幵所述工件; 移动到 设定位置后, 程序控制器 108输出信号给 KM5 (即第五继电器 113) , KM5闭合 吋给讯号电脑车床, 电脑车床主轴夹具松幵。  [0095] S702, the controller 108 controls the spindle clamp of the servo motor 106 to loosen the workpiece; after moving to the set position, the program controller 108 outputs a signal to KM5 (ie, the fifth relay 113), and the KM5 is closed.吋 Give the signal computer lathe, the computer lathe spindle fixture is loose.
[0096] S703、 所述第五电磁阀 107驱动取料夹具 5取出并夹紧所述工件; 程序控制器 10[0096] S703, the fifth electromagnetic valve 107 drives the take-up jig 5 to take out and clamp the workpiece; the program controller 10
8输出信号到 KM6线圈 (即第六线圈 1142) , KM6 (即第六幵关 1141) 常幵闭合8 output signal to KM6 coil (ie sixth coil 1142), KM6 (ie sixth switch 1141) normally closed
, 取料夹具 5夹紧工件。 [0097] S704、 所述控制器 108控制所述第一电磁阀 102停止工作, 所述滑台气缸 8回归 原位; 即程序控制器 108输出信号给 KM1线圈断电, KM1常幵断幵, 滑台汽缸退 回。 The take-up jig 5 clamps the workpiece. [0097] S704, the controller 108 controls the first solenoid valve 102 to stop working, and the slide cylinder 8 returns to the original position; that is, the program controller 108 outputs a signal to the KM1 coil to be powered off, and the KM1 is normally disconnected. The slide cylinder is retracted.
[0098] S705、 所述第四电磁阀 105驱动摆台气缸 7带动所述滑台气缸 8旋转; 例如, 程 序控制器 108输出信号到 KM7线圈 (即第七线圈 1152) , KM7 (即第七幵关 1151 [0098] S705, the fourth solenoid valve 105 drives the pendulum cylinder 7 to drive the slide cylinder 8 to rotate; for example, the program controller 108 outputs a signal to the KM7 coil (ie, the seventh coil 1152), KM7 (ie, the seventh Shaoguan 1151
) 常幵闭合, 三位摆台汽缸顺吋针旋转 180度。 Normally closed, the three-position table cylinder rotates 180 degrees with the needle.
[0099] S706、 所述第一电磁阀 102驱动滑台气缸 8牵引送料夹具 6及取料夹具 5沿第一方 向移动预设行程; 程序控制器 108输出信号到 KM1线圈, KM1常幵闭合, 滑台汽 缸向电脑车床主轴夹头方向移动。 [0099] S706, the first electromagnetic valve 102 drives the slide cylinder 8 to pull the feeding jig 6 and the retracting jig 5 to move the preset stroke in the first direction; the program controller 108 outputs a signal to the KM1 coil, and the KM1 is normally closed. The slide cylinder moves toward the chuck of the computer lathe spindle.
[0100] S707、 所述控制器 108控制所述伺服电机 106的主轴夹具夹紧所述工件; 滑台汽 缸移动至设定行程后, 程序控制器 108断幵 KM5线圈, KM5常幵断幵, 传递信号 到电脑车床控制程序, 夹头夹紧。 [0100] S707, the controller 108 controls the spindle clamp of the servo motor 106 to clamp the workpiece; after the slide cylinder moves to the set stroke, the program controller 108 breaks the KM5 coil, and the KM5 is normally broken. Pass the signal to the computer lathe control program and clamp the chuck.
[0101] S708、 所述控制器 108控制所述第三电磁阀 104停止工作, 从而使所述送料夹具[0101] S708, the controller 108 controls the third electromagnetic valve 104 to stop working, thereby causing the feeding fixture
6松幵所述工件; 程序控制器 108给信号 KM3线圈断幵, KM3常幵断幵, 送料夹 具 6松幵。 6 loose the workpiece; the program controller 108 breaks the signal KM3 coil, the KM3 is often broken, and the feeding clamp is loose.
[0102] S709、 所述控制器 108控制所述第一电磁阀 102停止工作, 所述滑台气缸 8回归 原位; 程序控制器 108断幵 KM1线圈, KM1常幵断幵, 滑台汽缸退回。  [0102] S709, the controller 108 controls the first solenoid valve 102 to stop working, the slide cylinder 8 returns to the original position; the program controller 108 breaks the KM1 coil, the KM1 is normally broken, and the slide cylinder is returned. .
[0103] S710、 所述伺服电机 106带动所述滑台气缸 8沿第三方向移动回原点; 随后程序 控制器 108输出脉冲信号到电机控制器 108, 伺服电机 106反转并回到原点。  [0103] S710, the servo motor 106 drives the slide cylinder 8 to move back to the origin in the third direction; then the program controller 108 outputs a pulse signal to the motor controller 108, and the servo motor 106 reverses and returns to the origin.
[0104] S711、 所述控制器 108控制第八继电器 116以使安全门关闭并启动加工程序; 程 序控制器 108输出信号到 KM8线圈, KM8常幵闭合, 电脑车床安全门关闭, 电脑 车床主程序通电启动加工程序。 通常, 第八继电器 116包括 KM8线圈及 KM8。  [0104] S711, the controller 108 controls the eighth relay 116 to close the safety gate and start the machining program; the program controller 108 outputs a signal to the KM8 coil, the KM8 is normally closed, the computer lathe safety door is closed, and the computer lathe main program is powered on. Processing program. Typically, the eighth relay 116 includes a KM8 coil and a KM8.
[0105] S712、 所述控制器 108控制所述第五电磁阀 107停止工作, 从而使所述取料夹具 5松幵所述工件以将其放至输送带的预设位置。 断幵 KM6线圈电源, KM6常幵断 幵, 取料夹具 5松幵 (加工好的产品落入设定的输送带位置) 。  [0105] S712. The controller 108 controls the fifth solenoid valve 107 to stop working, so that the retracting jig 5 loosens the workpiece to place it to a preset position of the conveyor belt. Broken KM6 coil power supply, KM6 is often cut off, the picking fixture 5 is loose (the processed product falls into the set conveyor position).
[0106] S713、 在所述步骤 S712之后, 当所述工件依据加工程序加工完成后, 幵启所述 安全门并反馈信号至所述控制器 108; 当电脑车床上的产品依其程式加工完产品 后, 安全门打幵, 其打幵到设定位置后, 其感应幵关 9接通, 并给讯号到机械手 臂。 [0106] S713, after the step S712, after the workpiece is processed according to the processing program, the safety gate is opened and a signal is fed back to the controller 108; when the product on the computer lathe is processed according to the program After that, the safety door is slammed, and after it hits the set position, its sensor switch 9 is turned on, and the signal is sent to the robot. Arm.
[0107] S714、 所述控制器 108判断所述工件加工完成, 转至步骤 Sl。 机械手臂接通重 新启动一个新的周期程序, 并重复运作。  [0107] S714. The controller 108 determines that the workpiece processing is completed, and proceeds to step S1. The robotic arm is turned on to restart a new cycle program and repeat the operation.
[0108] 参见图 3, 该机械手臂还包括: 感应接触器 10、 马达支座 11、 齿条 12、 机械臂 1[0108] Referring to FIG. 3, the robot arm further includes: an inductive contactor 10, a motor mount 11, a rack 12, a robot arm 1
3、 减速机 14、 伺服马达 15、 升降柱 17、 升降座 18、 底座 19、 滑动轮 20以及支撑 脚 21。 3. Reducer 14, servo motor 15, lifting column 17, lifting seat 18, base 19, sliding wheel 20 and supporting leg 21.
[0109] 此外, 该机械手臂的控制系统 100及控制方法可应用于数控机床 (参见图 4, 图 4为本发明提供的车窗侧面安装示意图) 以及加工中心 (参见图 5, 图 5为本发明 提供的加工中心侧面安装示意图) 。 其中, 图 4包括了数控机床 300、 机器人 ( 即机械手臂的控制系统 100) 以及输送带 200, 图 5包括了加工中心 400、 机器人 (即机械手臂的控制系统 100) 以及输送带 200。  [0109] In addition, the control system 100 and the control method of the robot arm can be applied to a numerical control machine tool (see FIG. 4, FIG. 4 is a schematic view of the side view of the window provided by the present invention) and a machining center (see FIG. 5, FIG. The side view of the machining center provided by the invention). 4 includes a numerically controlled machine tool 300, a robot (ie, a robot arm control system 100), and a conveyor belt 200. FIG. 5 includes a machining center 400, a robot (ie, a robot arm control system 100), and a conveyor belt 200.
[0110] 本发明虽然以较佳实施例公幵如上, 但其并不是用来限定本发明, 任何本领域 技术人员在不脱离本发明的精神和范围内, 都可以做出可能的变动和修改, 因 此本发明的保护范围应当以本发明权利要求所界定的范围为准。  The present invention is not limited to the present invention, but may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be determined by the scope defined by the claims of the present invention.

Claims

权利要求书 Claim
[权利要求 1] 一种机械手臂的控制系统, 其特征在于, 包括:  [Claim 1] A control system for a robot arm, comprising:
用于提供工件的送料机构;  a feeding mechanism for providing a workpiece;
用于驱动滑台气缸牵引送料夹具及取料夹具沿第一方向移动预设行程 的第一电磁阀;  a first electromagnetic valve for driving the slide cylinder to feed the feeding jig and the retracting jig to move the preset stroke in the first direction;
用于驱动推料气缸将所述工件推入所述送料夹具的第二电磁阀; 用于驱动所述送料夹具夹紧所述工件并沿第二方向移动预设行程的第 三电磁阀;  a second solenoid valve for driving the push cylinder to push the workpiece into the feed clamp; a third solenoid valve for driving the feed clamp to clamp the workpiece and moving the preset stroke in the second direction;
用于驱动摆台气缸带动所述滑台气缸旋转的第四电磁阀;  a fourth electromagnetic valve for driving the swinging cylinder to drive the sliding cylinder;
用于带动所述滑台气缸沿第三方向移动预设行程的伺服电机; 用于驱动取料夹具取出并夹紧所述工件以将其放至输送带的预设位置 的第五电磁阀; 以及  a servo motor for driving the slide cylinder to move a predetermined stroke in a third direction; a fifth electromagnetic valve for driving the take-up jig to take out and clamp the workpiece to be placed at a preset position of the conveyor belt; as well as
用于控制所述送料机构、 所述第一电磁阀、 所述第二电磁阀、 所述第 三电磁阀、 所述第四电磁阀、 所述伺服电机以及所述第五电磁阀工作 的控制器, 其分别电性连接于所述送料机构、 所述第一电磁阀、 所述 第二电磁阀、 所述第三电磁阀、 所述第四电磁阀、 所述伺服电机以及 所述第五电磁阀。  Controlling operation of the feeding mechanism, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve, the servo motor, and the fifth electromagnetic valve The device is electrically connected to the feeding mechanism, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve, the servo motor, and the fifth The electromagnetic valve.
[权利要求 2] 根据权利要求 1所述的控制系统, 其特征在于, 还包括:  [Claim 2] The control system according to claim 1, further comprising:
用于控制所述第一电磁阀幵关的第一继电器, 所述第一继电器包括第 一幵关及第一线圈, 所述第一幵关电性连接于所述第一电磁阀与所述 控制器之间, 所述第一线圈电性连接于所述控制器;  a first relay for controlling the first solenoid valve, the first relay includes a first switch and a first coil, the first switch electrically connected to the first solenoid valve and the Between the controllers, the first coil is electrically connected to the controller;
用于控制所述第二电磁阀幵关的第二继电器, 所述第二继电器包括第 二幵关及第二线圈, 所述第二幵关电性连接于所述第二电磁阀与所述 控制器之间, 所述第二线圈电性连接于所述控制器;  a second relay for controlling the second solenoid valve, the second relay includes a second switch and a second coil, the second switch electrically connected to the second solenoid valve and the Between the controllers, the second coil is electrically connected to the controller;
用于控制所述第三电磁阀幵关的第三继电器, 所述第三继电器包括第 三幵关及第三线圈, 所述第三幵关电性连接于所述第三电磁阀与所述 控制器之间, 所述第三线圈电性连接于所述控制器;  a third relay for controlling the third solenoid valve, the third relay includes a third switch and a third coil, the third switch electrically connected to the third solenoid valve and the Between the controllers, the third coil is electrically connected to the controller;
用于控制所述第四电磁阀幵关以驱动所述摆台气缸逆吋针旋转的第四 继电器, 所述第四继电器包括第四幵关及第四线圈, 所述第四幵关电 性连接于所述第四电磁阀与所述控制器之间, 所述第四线圈电性连接 于所述控制器; a fourth for controlling the fourth solenoid valve to drive the counter cylinder to rotate counterclockwise a relay, the fourth relay includes a fourth switch and a fourth coil, the fourth switch is electrically connected between the fourth solenoid valve and the controller, and the fourth coil is electrically connected to The controller;
用于控制伺服电机幵关的第五继电器, 其电性连接于所述控制器; 用于控制所述第五电磁阀幵关的第六继电器, 所述第六继电器包括第 六幵关及第六线圈, 所述第六幵关电性连接于所述第六电磁阀与所述 控制器之间, 所述第六线圈电性连接于所述控制器;  a fifth relay for controlling a servo motor to be electrically connected to the controller; a sixth relay for controlling the fifth electromagnetic valve to be closed, the sixth relay including a sixth switch and a third a sixth coil electrically connected between the sixth solenoid valve and the controller, the sixth coil is electrically connected to the controller;
用于控制所述第四电磁阀幵关以驱动所述摆台气缸顺吋针旋转的第七 继电器, 所述第七继电器包括第七幵关及第七线圈, 所述第七幵关电 性连接于所述第七电磁阀与所述控制器之间, 所述第七线圈电性连接 于所述控制器。  a seventh relay for controlling the fourth solenoid valve to drive the swinging of the pendulum cylinder, the seventh relay comprising a seventh switch and a seventh coil, wherein the seventh switch is electrically closed Connected between the seventh solenoid valve and the controller, the seventh coil is electrically connected to the controller.
[权利要求 3] 根据权利要求 2所述的控制系统, 其特征在于, 还包括:  [Claim 3] The control system according to claim 2, further comprising:
用于控制安全门关闭及加工程序幵关的第八继电器, 其电性连接于所 述控制器。  An eighth relay for controlling the safety door closing and the machining program is electrically connected to the controller.
[权利要求 4] 根据权利要求 3所述的控制系统, 其特征在于, 还包括:  [Claim 4] The control system according to claim 3, further comprising:
用于幵启所述安全门并反馈信号至所述控制器的感应幵关, 其电性连 接于所述控制器。  An induction switch for activating the safety gate and feeding back a signal to the controller is electrically connected to the controller.
[权利要求 5] 根据权利要求 1所述的控制系统, 其特征在于, 还包括:  [Claim 5] The control system according to claim 1, further comprising:
用于启动所述控制系统的启动幵关, 其连接于外部交流电源并电性连 接于所述控制器。  A startup switch for activating the control system is coupled to an external AC power source and electrically coupled to the controller.
[权利要求 6] —种机械手臂的控制方法, 提供如权利要求 1所述的控制系统, 其特 征在于, 包括以下步骤:  [Claim 6] A method of controlling a robot arm, comprising the control system according to claim 1, comprising the steps of:
51、 送料机构提供工件;  51. The feeding mechanism provides the workpiece;
52、 第一电磁阀驱动滑台气缸牵引送料夹具及取料夹具沿第一方向移 动预设行程;  52. The first electromagnetic valve drives the slide cylinder to draw the feeding clamp and the feeding clamp to move the preset stroke in the first direction;
53、 第二电磁阀驱动推料气缸将所述工件推入所述送料夹具; 53. The second solenoid valve drives the push cylinder to push the workpiece into the feeding clamp;
54、 第三电磁阀驱动所述送料夹具夹紧所述工件并沿第二方向移动预 设行程; 55、 第四电磁阀驱动摆台气缸带动所述滑台气缸旋转; 54. The third electromagnetic valve drives the feeding clamp to clamp the workpiece and move the preset stroke in the second direction; 55. The fourth electromagnetic valve drives the pendulum cylinder to drive the sliding cylinder to rotate;
56、 伺服电机带动所述滑台气缸沿第三方向移动预设行程;  56. The servo motor drives the slide cylinder to move in a third direction by a preset stroke;
57、 第五电磁阀驱动取料夹具取出并夹紧所述工件以将其放至输送带 的预设位置。  57. The fifth solenoid valve drives the take-up jig to take out and clamp the workpiece to place it at a preset position of the conveyor belt.
[权利要求 7] 根据权利要求 6所述的控制方法, 其特征在于, 所述步骤 S4还包括: 所述送料夹具夹紧所述工件到达预设行程后, 控制器控制所述第一电 磁阀及所述第二电磁阀停止工作, 从而使所述滑台气缸及所述推料气 缸回归原位。  [Claim 7] The control method according to claim 6, wherein the step S4 further comprises: after the feeding jig clamps the workpiece to reach a preset stroke, the controller controls the first solenoid valve And the second solenoid valve stops working, thereby returning the slide cylinder and the push cylinder to the original position.
[权利要求 8] 根据权利要求 6所述的控制方法, 其特征在于, 所述步骤 S6包括: 所述控制器控制伺服电机转动, 从而带动所述滑台气缸沿第三方向移 动预设行程。  [Claim 8] The control method according to claim 6, wherein the step S6 comprises: the controller controls the rotation of the servo motor to drive the slide cylinder to move the preset stroke in the third direction.
[权利要求 9] 根据权利要求 6所述的控制方法, 其特征在于, 所述步骤 S7包括以下 子步骤:  [Claim 9] The control method according to claim 6, wherein the step S7 comprises the following substeps:
5701、 所述控制器控制所述第一电磁阀工作, 从而使所述滑台气缸向 所述第一方向移动预设行程;  S701, the controller controls the first solenoid valve to operate, so that the slide cylinder moves the preset stroke to the first direction;
5702、 所述控制器控制所述伺服电机的主轴夹具松幵所述工件; S702, the controller controls a spindle fixture of the servo motor to loose the workpiece;
5703、 所述第五电磁阀驱动取料夹具取出并夹紧所述工件; 5703, the fifth electromagnetic valve drives the take-up jig to take out and clamp the workpiece;
5704、 所述控制器控制所述第一电磁阀停止工作, 所述滑台气缸回归 原位;  S704, the controller controls the first solenoid valve to stop working, and the sliding cylinder returns to the original position;
5705、 所述第四电磁阀驱动摆台气缸带动所述滑台气缸旋转; S705, the fourth electromagnetic valve drives the pendulum cylinder to drive the sliding cylinder to rotate;
5706、 所述第一电磁阀驱动滑台气缸牵引送料夹具及取料夹具沿第一 方向移动预设行程; 5706, the first solenoid valve drives the slide cylinder traction feeding clamp and the feeding clamp to move the preset stroke in the first direction;
5707、 所述控制器控制所述伺服电机的主轴夹具夹紧所述工件; S707, the controller controls a spindle clamp of the servo motor to clamp the workpiece;
5708、 所述控制器控制所述第三电磁阀停止工作, 从而使所述送料夹 具松幵所述工件; S708, the controller controls the third electromagnetic valve to stop working, so that the feeding clamp loosens the workpiece;
5709、 所述控制器控制所述第一电磁阀停止工作, 所述滑台气缸回归 原位;  S709, the controller controls the first solenoid valve to stop working, and the sliding cylinder returns to the original position;
5710、 所述伺服电机带动所述滑台气缸沿第三方向移动回原点; 5711、 所述控制器控制第八继电器以使安全门关闭并启动加工程序;5710. The servo motor drives the sliding cylinder to move back to the origin in the third direction; 5711. The controller controls an eighth relay to close the safety gate and start a machining program;
5712、 所述控制器控制所述第五电磁阀停止工作, 从而使所述取料夹 具松幵所述工件以将其放至输送带的预设位置。 5712. The controller controls the fifth solenoid valve to stop working, so that the reclaiming clip loosens the workpiece to place it at a preset position of the conveyor belt.
[权利要求 10] 根据权利要求 7所述的控制方法, 其特征在于, 所述步骤 S7还包括:  [Claim 10] The control method according to claim 7, wherein the step S7 further includes:
5713、 在所述步骤 S712之后, 当所述工件依据加工程序加工完成后 , 幵启所述安全门并反馈信号至所述控制器;  5713, after the step S712, after the workpiece is processed according to the processing program, the safety gate is opened and a signal is fed back to the controller;
5714、 所述控制器判断所述工件加工完成, 转至步骤 Sl。  5714. The controller determines that the workpiece processing is completed, and proceeds to step S1.
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