CN107696020A - The control method and control device of six axis robot and its turntable that links - Google Patents
The control method and control device of six axis robot and its turntable that links Download PDFInfo
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- CN107696020A CN107696020A CN201711190100.5A CN201711190100A CN107696020A CN 107696020 A CN107696020 A CN 107696020A CN 201711190100 A CN201711190100 A CN 201711190100A CN 107696020 A CN107696020 A CN 107696020A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Spray Control Apparatus (AREA)
Abstract
The control method of a kind of six axis robot of disclosure and its turntable that links, including：Obtain the workpiece parameter of user's input；Obtain the coated tool of user's input and the kinematic parameter of turntable；After receiving enabled instruction, control the executing agency of six axis robot to move back and forth according to the workpiece parameter and the kinematic parameter, while control the rotation of turntable, to be coated processing to the region to be processed of workpiece.The control method of six axis robot disclosed in the present application and its turntable that links has higher flexibility and versatility, and can improve the kinematic accuracy of six axis robot.The control device of a kind of six axis robot and its turntable that links is also disclosed in the application.
Description
Technical field
The application belongs to manipulator control technical field, more particularly to the control method of six axis robot and its turntable that links
And control device.
Background technology
Built-up welding and spraying technology are industry-wide surface engineering technologies, have spy by being formed in workpiece surface
The coat of different performance so that product has the performances such as wear-resistant, anticorrosion, conduction or insulation.
Intelligent robot can substitute a large amount of repeated work of people, further improve production efficiency, reduction is produced into
This.Six axis robot is one kind of intelligent robot, six axis robot can perfect simulation human arm various motions, and
And there is the characteristics of controllable precise, reproducible.Using six axis robot replace it is artificial carry out built-up welding or spraying operation, can be with
The quality of product surface coating layer is improved, the homogeneity of mass product coat is particularly improved, significantly improves production efficiency,
Reduce the production cost of enterprise.
At present, for the control generally use programming by guiding mode of six axis robot.Specifically, staff's use is shown
Religion box controls six axis robot to complete once complete motion process, and control six axis robot to record this motion process manually
In data, afterwards, six axis robot carries out repetition according to the data of record to motion process.But current it is directed to
, the problem of flexibility, versatility and precision are poor be present in the control mode of six axis robot.
The content of the invention
In view of this, the purpose of the application is to provide a kind of six axle machines with higher flexibility, versatility and precision
The control method and control device of tool hand and its turntable that links.
To achieve the above object, the application provides following technical scheme：
The application provides the control method of a kind of six axis robot and its turntable that links, and the six axis robot is used for work
Part is coated processing, and the end of the executing agency of the six axis robot is clamped with coated tool, and the turntable is used to clamp
Workpiece to be processed, the control method include：
Obtain the workpiece parameter of user's input；
Obtain the kinematic parameter of coated tool and the kinematic parameter of turntable of user's input；
After receiving enabled instruction, according to the workpiece parameter, the kinematic parameter of the coated tool and the turntable
Kinematic parameter control the executing agency of the six axis robot to move back and forth, while control the rotation of the turntable, with
Just processing is coated to the region to be processed of the workpiece.
Optionally, in above-mentioned control method, in addition to：After coating processing is completed, holding for the six axis robot is controlled
Row mechanism is back to home position.
Optionally, in above-mentioned control method, the workpiece parameter includes workpiece type parameter and workpiece size parameter；Its
In, to be processed region of the type including workpiece of workpiece is plane, and the region to be processed of workpiece is cylinder；In the workpiece
Region to be processed be plane in the case of, the width and height in the region to be processed of the workpiece size parameter including the workpiece
Degree, in the case of being cylinder in the region to be processed of the workpiece, the workpiece size parameter includes the to be processed of the workpiece
The height and column diameter in region；
The kinematic parameter of the coated tool includes：The movement velocity of coated tool, the preheating number of coated tool, coating
The distance between the front end of instrument and end flange center of the six axis robot, the posture of coated tool, processing times, phase
The distance between neighbour's coating passage；
The kinematic parameter of the turntable includes：The rotating speed of the turntable.
Optionally, in above-mentioned control method, in the case of being plane in the region to be processed of the workpiece, described in control
State remains stationary state, the executing agency of the six axis robot is controlled to be moved along the track of square waveform.
Optionally, in above-mentioned control method, in the case of being cylinder in the region to be processed of the workpiece, described in control
Turntable controls the executing agency of the six axis robot to be moved along the track of linear according to the rotational speed.
Optionally, in above-mentioned control method, in the case of being cylinder in the region to be processed of the workpiece, in control institute
State six axis robot executing agency be back to home position after, in addition to：The turntable is controlled to stop operating.
On the other hand, the control device of a kind of six axis robot of disclosure and its turntable that links, six shaft mechanical
Hand is used to be coated workpiece processing, and the end of the executing agency of the six axis robot is clamped with coated tool, described turn
Platform is used to clamp workpiece to be processed, and the control device includes：
First parameter acquiring unit, for obtaining the workpiece parameter of user's input；
Second parameter acquiring unit, for obtaining the coated tool of user's input and the kinematic parameter of turntable；
First processing units, for after enabled instruction is received, according to the fortune of the workpiece parameter, the coated tool
The kinematic parameter of dynamic parameter and the turntable controls the executing agency of the six axis robot to move back and forth, and controls simultaneously
The rotation of the turntable, to be coated processing to the region to be processed of the workpiece.
Optionally, in above-mentioned control device, in addition to second processing unit, the second processing unit are used to complete
After coating processing, the executing agency of the six axis robot is controlled to be back to home position.
Optionally, in above-mentioned control device, the workpiece parameter includes workpiece type parameter and workpiece size parameter；Its
In, to be processed region of the type including workpiece of workpiece is plane, and the region to be processed of workpiece is cylinder；In the workpiece
Region to be processed be plane in the case of, the width and height in the region to be processed of the workpiece size parameter including the workpiece
Degree, in the case of being cylinder in the region to be processed of the workpiece, the workpiece size parameter includes the to be processed of the workpiece
The height and column diameter in region；
The kinematic parameter of the coated tool includes：The movement velocity of coated tool, the preheating number of coated tool, coating
The distance between the front end of instrument and end flange center of the six axis robot, the posture of coated tool, processing times, phase
The distance between neighbour's coating passage；
The kinematic parameter of the turntable includes：The rotating speed of the turntable.
Optionally, in above-mentioned control device, in the case of being plane in the region to be processed of the workpiece, described first
Control unit controls the state remains stationary state, controls track fortune of the executing agency of the six axis robot along square waveform
It is dynamic.
Optionally, in above-mentioned control device, in the case of being cylinder in the region to be processed of the workpiece, described first
Control unit controls the turntable to control the executing agency of the six axis robot along the rail of linear according to the rotational speed
Mark moves；
Second control unit is additionally operable to after the executing agency of the control six axis robot is back to home position,
The turntable is controlled to stop operating.
As can be seen here, the application has the beneficial effect that：
The control method of six axis robot disclosed in the present application and its turntable that links, user directly input workpiece parameter, applied
The kinematic parameter of instrument and the kinematic parameter of turntable are covered, workpiece parameter that control device inputs according to user, coated tool
The kinematic parameter of kinematic parameter and turntable control executing agency moves back and forth, while controls the rotation of turntable, to workpiece
Region to be processed be coated processing.It can be seen that the control based on six axis robot disclosed in the present application and its turntable that links
Method processed, before processing is coated to workpiece, user only need input workpiece parameter, coated tool kinematic parameter and turn
The kinematic parameter of platform, teaching operation, when needing the workpiece for being coated processing to change, user are carried out without user
Only need to input the kinematic parameter of new workpiece parameter, the kinematic parameter of coated tool and turntable, have very high flexible
Property and versatility；In addition, used parameter is that user requires according to processing technology during the motion of control executing agency
Directly input, compared with the parameter determined by user by naked eyes artificial judgement in existing control method, have very high
Precision, it is possible thereby to improve the kinematic accuracy of six axis robot, so as to provide preferably coating effect.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of application, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of the control method of a kind of six axis robot disclosed in the present application and its turntable that links；
Fig. 2 is a kind of motion path signal disclosed in the present application for being coated processing to workpiece using six axis robot
Figure；
Fig. 3 is another motion path signal disclosed in the present application for being coated processing to workpiece using six axis robot
Figure；
Fig. 4 is the structure chart of the control device of a kind of six axis robot disclosed in the present application and its turntable that links；
Fig. 5 is the structure chart of the control device of another six axis robot disclosed in the present application and its turntable that links.
Embodiment
Based on current programming by guiding mode, before processing is coated to workpiece using six axis robot, it is necessary to
Staff carries out teaching.That is, it is necessary to which staff controls six axis robot completion once complete manually using teaching box
Whole motion process, and control six axis robot to record the data in this motion process, such as：It is each crucial in motion process
Position, posture and the kinematic parameter of point, afterwards, six axis robot carry out repetition based on the data of record to motion process.
It can be seen that：Before processing is coated to the workpiece of a certain type using six axis robot, staff must
A teaching operation need be carried out, after needing the workpiece for being coated processing to change, it is necessary to which staff is again
Above-mentioned teaching operation is performed, processing could be coated to new workpiece.In addition, if staff needs to adjust at coating
During some parameters of reason, teaching operation can only be carried out again.Therefore, the current teaching programming mode for six axis robot is deposited
The flexibility and poor versatility the problem of.
In addition, it should be noted that, it is necessary to staff's hand in the current teaching programming mode for six axis robot
The motion of dynamic control six axis robot, and the precision that staff controls manually is poor, accordingly, what six axis robot was recorded
Data can also have the problem of low precision, cause the precision of follow-up coating processing relatively low, and coating effect is poor.
Such as：During teaching, staff moves to the key point specified using teaching box control six axis robot,
And control six axis robot to adjust to specified posture, staff and determine that six axis robot reaches the key specified by observing
When putting and the posture specified is presented, determine instruction can be exported, the determine instruction that six axis robot response receives, is recorded current
Position and posture.However, foregoing position and posture whether be all in place staff by visually manually judging, necessarily deposit
Precision is low the problem of, the precision that this results in the follow-up coating processing of six axis robot is relatively low.
The control method and control device of a kind of six axis robot of disclosure and its turntable that links, wherein, six axle machines
Tool hand is used to be coated workpiece processing, specifically, being clamped with coated tool in the end of the executing agency of six axis robot.
The control method and control device of six axis robot disclosed in the present application and its turntable that links have higher flexibility and general
Property, and the kinematic accuracy of six axis robot can be improved, so as to provide preferably coating effect.
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of the application protection.
Referring to Fig. 1, Fig. 1 is the flow of the control method of a kind of six axis robot disclosed in the present application and its turntable that links
Figure.The control method includes：
Step S11：Obtain the workpiece parameter of user's input.
Wherein, workpiece parameter indicates the attribute in the region to be processed of workpiece.
Step S12：Obtain the kinematic parameter of coated tool and the kinematic parameter of turntable of user's input.
Turntable is used to clamp workpiece to be processed.
Six axis robot mainly includes executing agency, drive mechanism and control device.Wherein, the end clamping of executing agency
There is a coated tool, the coated tool in the application is spray gun or welding gun.Control device can be performed by driving mechanisms control
The motion of mechanism.
Wherein, the kinematic parameter of coated tool comprises at least the movement velocity and posture of coated tool.
Step S13：After receiving enabled instruction, according to the fortune of workpiece parameter, the kinematic parameter of coated tool and turntable
The executing agency of dynamic state modulator six axis robot moves back and forth, and the rotation of turntable is controlled, so as to the to be processed of workpiece
Region is coated processing.Wherein, enabled instruction is completed to be manually entered after above-mentioned parameter by user in input.
Before processing is coated to certain type of workpiece first, user inputs the motion ginseng of workpiece parameter, coated tool
The kinematic parameter of number and turntable.Afterwards, the executing agency of six axis robot is moved to the home position of workpiece by user, and input is opened
Dynamic instruction, the enabled instruction of control device response user's input, according to workpiece parameter, the kinematic parameter of coated tool received
Moved back and forth with the kinematic parameter control executing agency of turntable, while control the rotation of turntable, pressed from both sides by executing agency end
The coated tool held is coated processing to workpiece.In the case where coated tool is spray gun, specifically workpiece is sprayed
Processing；In the case where coated tool is welding gun, built-up welding processing specifically is carried out to workpiece.
The control device of six axis robot and its turntable that links determines according to the kinematic parameter of workpiece parameter and coated tool
The motion path of coated tool and the coating parameters on motion path, control device is based on foregoing motion path and painting
State modulator executing agency is covered to move back and forth.
" reciprocating motion " in the application refers to：The executing agency of six axis robot moves to final position from start position
Backtracking afterwards.That is, the executing agency of six axis robot moves to final position from start position, afterwards along identical
Path move to start position from final position.
The control method of six axis robot disclosed in the present application and its turntable that links, user directly input workpiece parameter, applied
The kinematic parameter of instrument and the kinematic parameter of turntable are covered, workpiece parameter that control device inputs according to user, coated tool
The kinematic parameter of kinematic parameter and turntable control executing agency moves back and forth, while controls the rotation of turntable, to workpiece
Region to be processed be coated processing.It can be seen that the control based on six axis robot disclosed in the present application and its turntable that links
Method processed, before processing is coated to workpiece, user only need input workpiece parameter, coated tool kinematic parameter and turn
The kinematic parameter of platform, teaching operation, when needing the workpiece for being coated processing to change, user are carried out without user
Only need to input the kinematic parameter of new workpiece parameter, the kinematic parameter of coated tool and turntable, have very high flexible
Property and versatility；In addition, used parameter is that user requires according to processing technology during the motion of control executing agency
Directly input, compared with the parameter determined by user by naked eyes artificial judgement in existing control method, have very high
Precision, it is possible thereby to improve the kinematic accuracy of six axis robot, so as to provide preferably coating effect.
Optionally, on the basis of control method shown in the application Fig. 1, a step setting can be carried out after step s 13：
After coating processing is completed, the executing agency of six axis robot is controlled to be back to home position.As shown in Figures 2 and 3, complete
Into after coating processing, control the executing agency of six axis robot to be back to home position, the home position in Fig. 2 and Fig. 3 with
Home is indicated.
In the control method of the application six axis robot disclosed above and its turntable that links, workpiece parameter includes workpiece
Type parameter and workpiece size parameter.
Wherein, the region to be processed of the type of workpiece including workpiece is plane, and as shown in Figure 2, in addition to workpiece is treated
Machining area is cylinder, as shown in Figure 3.In the case of being plane in the region to be processed of workpiece, workpiece size parameter includes
The width and height in the region to be processed of workpiece, in the case of being cylinder in the region to be processed of workpiece, workpiece size parameter bag
Include the height and column diameter (can also be cylinder radius) in the region to be processed of workpiece.
The kinematic parameter of coated tool includes：The movement velocity of coated tool, preheating number, the coated tool of coated tool
Front end and six axis robot the distance between end flange center, the posture of coated tool, processing times.In treating for workpiece
In the case that machining area is plane, the kinematic parameter of coated tool also includes the distance between adjacent coat passage.
The kinematic parameter of turntable includes：The rotating speed of turntable.
As a kind of embodiment, in the case of being plane in the region to be processed of workpiece, holding for six axis robot is controlled
Row mechanism moves along the track of square waveform.
By taking Fig. 2 as an example, the region to be processed of workpiece is plane.Control process is as follows：
1), user inputs workpiece parameter, the kinematic parameter of coated tool and the kinematic parameter of turntable.Such as：The class of workpiece
Shape parameter (region to be processed for specially characterizing workpiece is the parameter value of plane), the width and height in the region to be processed of workpiece
Degree, the movement velocity of coated tool, preheating number, the front end of coated tool and the end flange of six axis robot of coated tool
The distance between the distance between center, the posture of coated tool, processing times and adjacent coat passage；The motion of turntable
Parameter is specially to characterize the static parameter value of turntable.
2), the executing agency of six axis robot is moved to the upper left corner of workpiece (in implementation, or workpiece by user
The upper right corner, the lower left corner or the lower right corner), teaching memory current point is start position.User measure coated tool working end with
The distance between workpiece surface, and measured value is inputted, as D_teach variables.
3), the executing agency of six axis robot is reset to home position (being indicated with Home) by user, opens coated tool
Power supply, by the operational mode switch rotary of six axis robot to fully automatic operation position, confirm the shape of coated tool and workpiece
State normally clicks on start button afterwards, controls the executing agency of six axis robot to be moved along the square waveform track shown in Fig. 2, reaches
Along backtracking behind final position, primary coating processing is completed, if the processing times of user's input are the integer more than 1,
Perform the coating processing of corresponding number.Wherein, during processing is coated, turntable remains static.
4), after whole coating processings is completed, the executing agency of six axis robot is controlled to be back to home position.
If the size in region to be processed of coated tool type, workpiece type, workpiece, the position of workpiece or coating work
The kinematic parameter of tool changes, and user only needs to input new parameter.
As another embodiment, in the case of being cylinder in the region to be processed of workpiece, workpiece is positioned over turntable, control
The executing agency of six axis robot processed moves along the track of linear.
By taking Fig. 3 as an example, the region to be processed of workpiece is cylinder.Control process is as follows：
1), user inputs workpiece parameter, the kinematic parameter of coated tool and the kinematic parameter of turntable.Such as：The class of workpiece
Shape parameter (region to be processed for specially characterizing workpiece is the parameter value of cylinder), the height and cylinder in the region to be processed of workpiece
Diameter (can also be cylinder radius), the movement velocity of coated tool, the preheating number of coated tool, coated tool front end with
The distance between end flange center of six axis robot, the posture of coated tool, the rotating speed of processing times and turntable.
2), the executing agency of six axis robot is moved to the upper extreme point of cylinder (in implementation, or cylinder by user
Lower extreme point), teaching memory current point is start position.User measure coated tool working end and workpiece surface between away from
From, and measured value is inputted, as D_teach variables.
3), the executing agency of six axis robot is reset to home position (being indicated with Home) by user, opens coated tool
Power supply, by the operational mode switch rotary of six axis robot to fully automatic operation position, confirm the shape of coated tool and workpiece
State normally clicks on start button afterwards, controls the executing agency of six axis robot to be moved along the linear track shown in Fig. 3, reaches
Along backtracking behind final position, primary coating processing is completed, if the processing times of user's input are the integer more than 1,
Perform the coating processing of corresponding number.Wherein, during processing is coated, the rotating speed that turntable inputs according to user turns
It is dynamic.
4), after whole coating processings is completed, the executing agency of six axis robot is controlled to be back to home position, and stop
The rotation of rotation stop platform.
If the size in region to be processed of coated tool type, workpiece type, workpiece, the position of workpiece or coating work
The kinematic parameter of tool changes, and user only needs to input new parameter.
The control method of the application six axis robot disclosed above and its turntable that links, accordingly, the application is also disclosed
The control device of six axis robot and its turntable that links.Hereinafter with regard to control device description with above in connection with control method
Description, can be with cross-reference.
Referring to Fig. 4, Fig. 4 is the structure of the control device of a kind of six axis robot disclosed in the present application and its turntable that links
Figure.The control device includes：
First parameter acquiring unit 100, for obtaining the workpiece parameter of user's input.Wherein, workpiece parameter indicates work
The attribute in the region to be processed of part.
Second parameter acquiring unit 200, the motion of the kinematic parameter and turntable of the coated tool for obtaining user's input
Parameter.Wherein, the kinematic parameter of coated tool comprises at least the movement velocity and posture of coated tool.
First processing units 300, for after enabled instruction is received, being joined according to the motion of workpiece parameter, coated tool
The executing agency of number and the kinematic parameter of state control six axis robot moves back and forth, and the rotation of turntable is controlled, so as to right
The region to be processed of workpiece is coated processing.Wherein, enabled instruction by user input complete above-mentioned parameter after manually it is defeated
Enter.
The control device of six axis robot disclosed in the present application and its turntable that links, user directly input workpiece parameter, applied
The kinematic parameter of instrument and the kinematic parameter of turntable are covered, workpiece parameter that control device inputs according to user, coated tool
The kinematic parameter of kinematic parameter and turntable control executing agency moves back and forth, while controls the rotation of turntable, to workpiece
Region to be processed be coated processing.It can be seen that the control based on six axis robot disclosed in the present application and its turntable that links
Device processed, before processing is coated to workpiece, user only need input workpiece parameter, coated tool kinematic parameter and turn
The kinematic parameter of platform, teaching operation, when needing the workpiece for being coated processing to change, user are carried out without user
Only need to input the kinematic parameter of new workpiece parameter, the kinematic parameter of coated tool and turntable, have very high flexible
Property and versatility；In addition, used parameter is that user requires according to processing technology during the motion of control executing agency
Directly input, compared with the parameter determined by user by naked eyes artificial judgement in existing control method, have very high
Precision, it is possible thereby to improve the kinematic accuracy of six axis robot, so as to provide preferably coating effect.
Optionally, on the basis of the control device of six axis robot shown in Fig. 4 and its turntable that links, the can also be set
Two processing units 400, as shown in Figure 5.The second processing unit 500 is used for after coating processing is completed, and controls six shaft mechanicals
The executing agency of hand is back to home position.
In the control device of six axis robot disclosed in the present application and its turntable that links, workpiece parameter includes workpiece type
Parameter and workpiece size parameter.
Wherein, the region to be processed of the type of workpiece including workpiece is plane, and as shown in Figure 2, in addition to workpiece is treated
Machining area is cylinder, as shown in Figure 3.In the case of being plane in the region to be processed of workpiece, workpiece size parameter includes
The width and height in the region to be processed of workpiece, in the case of being cylinder in the region to be processed of workpiece, workpiece size parameter bag
Include the height and column diameter (can also be cylinder radius) in the region to be processed of workpiece.
The kinematic parameter of coated tool includes：The movement velocity of coated tool, preheating number, the coated tool of coated tool
Front end and six axis robot the distance between end flange center, the posture of coated tool, processing times.In treating for workpiece
In the case that machining area is plane, the kinematic parameter of coated tool also includes the distance between adjacent coat passage.
The kinematic parameter of turntable includes：The rotating speed of turntable.
As a kind of embodiment, in the case of being plane in the region to be processed of workpiece, the first control unit 300 controls
Turntable remains stationary state, the executing agency of six axis robot is controlled to be moved along the track of square waveform.
As another embodiment, in the case of being cylinder in the region to be processed of workpiece, the first control unit 300 is controlled
The rotational speed that turntable processed inputs according to user, the executing agency of six axis robot is controlled to be moved along the track of linear.It is optional
, the second control unit 400 is additionally operable to：After the executing agency of control six axis robot is back to home position, turntable is controlled
Stop operating.
In addition, it is necessary to explanation, in the application technical scheme disclosed above, six axis robot preferably uses KRC2
The six axis robot of type or KRC4 types.
Finally, it is to be noted that, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For control disclosed in embodiment
For device, due to its with embodiment disclosed in control method it is corresponding, so description is fairly simple, related part is referring to side
Method part illustrates.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the application.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments in the case where not departing from spirit herein or scope.Therefore, the application
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (11)
1. the control method of a kind of six axis robot and its turntable that links, it is characterised in that the six axis robot is used for work
Part is coated processing, and the end of the executing agency of the six axis robot is clamped with coated tool, and the turntable is used to clamp
Workpiece to be processed, the control method include：
Obtain the workpiece parameter of user's input；
Obtain the kinematic parameter of coated tool and the kinematic parameter of turntable of user's input；
After receiving enabled instruction, according to the fortune of the workpiece parameter, the kinematic parameter of the coated tool and the turntable
The executing agency of six axis robot moves back and forth described in dynamic state modulator, while controls the rotation of the turntable, so as to right
The region to be processed of the workpiece is coated processing.
2. control method according to claim 1, it is characterised in that also include：After coating processing is completed, described in control
The executing agency of six axis robot is back to home position.
3. control method according to claim 1 or 2, it is characterised in that
The workpiece parameter includes workpiece type parameter and workpiece size parameter；Wherein, the type of workpiece includes the to be added of workpiece
Work area domain is plane, and the region to be processed of workpiece is cylinder；In the case of being plane in the region to be processed of the workpiece,
The workpiece size parameter includes the width and height in the region to be processed of the workpiece, is in the region to be processed of the workpiece
In the case of cylinder, the workpiece size parameter includes the height and column diameter in the region to be processed of the workpiece；
The kinematic parameter of the coated tool includes：The movement velocity of coated tool, preheating number, the coated tool of coated tool
The distance between the end flange center of front end and the six axis robot, the posture of coated tool, processing times, adjacent painting
Cover the distance between passage；
The kinematic parameter of the turntable includes：The rotating speed of the turntable.
4. control method according to claim 3, it is characterised in that be the feelings of plane in the region to be processed of the workpiece
Under condition, the turntable remains stationary state is controlled, controls the executing agency of the six axis robot to be moved along the track of square waveform.
5. control method according to claim 3, it is characterised in that be the feelings of cylinder in the region to be processed of the workpiece
Under condition, the turntable is controlled to control the executing agency of the six axis robot along the track of linear according to the rotational speed
Motion.
6. control method according to claim 5, it is characterised in that be the feelings of cylinder in the region to be processed of the workpiece
Under condition, after the executing agency of the control six axis robot is back to home position, in addition to：The turntable is controlled to stop turning
It is dynamic.
7. the control device of a kind of six axis robot and its turntable that links, it is characterised in that the six axis robot is used for work
Part is coated processing, and the end of the executing agency of the six axis robot is clamped with coated tool, and the turntable is used to clamp
Workpiece to be processed, the control device include：
First parameter acquiring unit, for obtaining the workpiece parameter of user's input；
Second parameter acquiring unit, for obtaining the coated tool of user's input and the kinematic parameter of turntable；
First processing units, for after enabled instruction is received, being joined according to the motion of the workpiece parameter, the coated tool
The kinematic parameter of several and described turntable controls the executing agency of the six axis robot to move back and forth, while described in control
The rotation of turntable, to be coated processing to the region to be processed of the workpiece.
8. control device according to claim 7, it is characterised in that also including second processing unit, the second processing
Unit is used for after coating processing is completed, and controls the executing agency of the six axis robot to be back to home position.
9. the control device according to claim 7 or 8, it is characterised in that the workpiece parameter includes workpiece type parameter
With workpiece size parameter；Wherein, the region to be processed of the type of workpiece including workpiece is plane, and the region to be processed of workpiece
For cylinder；In the case of being plane in the region to be processed of the workpiece, the workpiece size parameter includes treating for the workpiece
The width and height of machining area, in the case of being cylinder in the region to be processed of the workpiece, the workpiece size parameter bag
Include the height and column diameter in the region to be processed of the workpiece；
The kinematic parameter of the coated tool includes：The movement velocity of coated tool, preheating number, the coated tool of coated tool
The distance between the end flange center of front end and the six axis robot, the posture of coated tool, processing times, adjacent painting
Cover the distance between passage；
The kinematic parameter of the turntable includes：The rotating speed of the turntable.
10. control device according to claim 9, it is characterised in that in the region to be processed of the workpiece for plane
In the case of, first control unit controls the turntable remains stationary state, controls the executing agency of the six axis robot
Moved along the track of square waveform.
11. the control device stated according to claim 9, it is characterised in that be the feelings of cylinder in the region to be processed of the workpiece
Under condition, first control unit controls the turntable according to the rotational speed, controls the execution machine of the six axis robot
Structure moves along the track of linear；
Second control unit is additionally operable to after the executing agency of the control six axis robot is back to home position, control
The turntable stops operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711190100.5A CN107696020A (en) | 2017-11-24 | 2017-11-24 | The control method and control device of six axis robot and its turntable that links |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711190100.5A CN107696020A (en) | 2017-11-24 | 2017-11-24 | The control method and control device of six axis robot and its turntable that links |
Publications (1)
| Publication Number | Publication Date |
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| CN107696020A true CN107696020A (en) | 2018-02-16 |
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ID=61180693
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711190100.5A Pending CN107696020A (en) | 2017-11-24 | 2017-11-24 | The control method and control device of six axis robot and its turntable that links |
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Application publication date: 20180216 |