CN108406756A - A kind of flexible robot and its control method - Google Patents
A kind of flexible robot and its control method Download PDFInfo
- Publication number
- CN108406756A CN108406756A CN201810027008.5A CN201810027008A CN108406756A CN 108406756 A CN108406756 A CN 108406756A CN 201810027008 A CN201810027008 A CN 201810027008A CN 108406756 A CN108406756 A CN 108406756A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible robot and its control method, which includes mainly supporting table, the X-axis module being arranged in supporting table, Y-axis module, Z axis module, Y' axle modules and the self-clamping module for clamping workpiece.After flexible pneumatic robot provided by the present invention and control system power supply, after these buttons being opened on the control panel of supporting table provided with power knob key and power supply indicator key, the flexible pneumatic robot and system have single operation (manual) and stepping, monocycle and continuous operation (rear three kind is automatically brought into operation) four kinds of working methods, the self-clamping module of flexible pneumatic robot is in Z axis topmost and Y' axis, Y-axis Far Left and finger cylinder are when being in release, and referred to as system is in origin state or original state.The present invention has the advantages that simple in structure, manufacturing cost is low, efficient, system is stablized.
Description
Technical field
The present invention relates to robot field more particularly to a kind of flexible robot and its control methods.
Background technology
Most robots existing at present and system are all made of traditional design method, and such robot is often only a kind of
Major function and fixed configuration, without a variety of directions, lack function autgmentability and configuration it is reconstitution, industrial robot is in weight
Use light maintenance.Due to the arduousness and complexity of industrial robot maintenance work so that some units are to industrial robot pipe
Reason, the understanding of importance of maintaining are insufficient, ignore the necessary maintenance work of industrial robot, are using industrial robot
Occur pursuing short-term benefit behavior during industry use so that industrial robot operation in spite of illness, the abrasion of part ultralimit, knot
Fruit causes the failure of industrial robot to increase, reduced service life.Repair industrial Robot Force amount technology in the country's is also weak so that
Repair and maintenance cost are expensive.In robot price costliness, investment risk is big, invests back this period length, system operatio complicated difficult
Learn, maintenance cost is high, technical force is weak, so the manufacturing improvement paces for resulting in enterprise are limited, at present much can be real
The process now automated still relies on manually.
Therefore, the prior art requires further improvement and perfect.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of flexible machines simple in structure, at low cost
People.
Another object of the present invention is to overcome the deficiencies of the prior art and provide a kind of controlling party based on above-mentioned robot
Method.
The purpose of the invention is achieved by the following technical solution：
A kind of flexible robot, the robot include mainly supporting table, the X-axis module being arranged in supporting table, Y-axis mould
Block, Z axis module, Y' axle modules and the self-clamping module for clamping workpiece.The X-axis module is fixed in supporting table, described
Y-axis module is arranged in X-axis module, by its straight reciprocating of X-axis module drive.The Z axis module is arranged in Y-axis module
On, by its straight reciprocating of Y-axis module drive and horizontally rotate.The Y' axle modules are arranged in Z axis module, by Z axis mould
Block drives it to move up and down and vertically rotate, and Y' axle modules are located at the top of Y-axis module, parallel to each other with Y-axis module.The folder
It holds module to be arranged on Y' axle modules, is driven its straight reciprocating by Y' axis and horizontally rotated.
Specifically, the X-axis module includes the first rodless cylinder, the linear guide and guide rail mounting base.First nothing
Bar cylinder is fixed in supporting table, and the guide rail mounting base is separately positioned on the both sides of the first rodless cylinder, with the first nothing
Bar cylinder is parallel.The linear guide is separately mounted in guide rail mounting base.
Specifically, the Y-axis module includes the second rodless cylinder, Y-axis cylinder mounting base, y-axis motor mounting plate and Y
Shaft step motor.The both ends of the Y-axis cylinder mounting base are separately fixed in the linear guide, middle part and the first rodless cylinder
Sliding block connects, and drives it to be moved back and forth in the linear guide by the first rodless cylinder.Second rodless cylinder is mounted on Y-axis gas
In cylinder mounting base.The y-axis motor mounting plate is fixed on the sliding block of the second rodless cylinder, the y-axis stepper motor peace
On y-axis motor mounting plate.
Specifically, the Z axis module includes third rodless cylinder, Z axis cylinder mounting base, Z axis motor mounting plate and Z
Shaft step motor.The end of the Z axis cylinder mounting base is mounted on the output shaft of y-axis stepper motor, is driven by y-axis stepper motor
It is moved to horizontally rotate.The third rodless cylinder is fixed in Z axis cylinder mounting base.The Z axis stepper motor is mounted on Z axis electricity
On machine mounting plate, Z axis motor mounting plate is fixed on the sliding block of third rodless cylinder.
Specifically, the Y' axle modules include the 4th rodless cylinder, Y' axis cylinders mounting base, Y' spindle motors mounting plate, with
And Y' shaft step motors.The end of the Y' axis cylinder mounting base is fixed on the output shaft of Z axis stepper motor, by Z axis stepping
Motor drives it vertically to rotate.4th rodless cylinder is fixed in Y' axis cylinder mounting bases.The Y' shaft step motors peace
On Y' spindle motor mounting plates, the Y' spindle motors mounting plate is fixed on the sliding block of the 4th rodless cylinder.
Specifically, the self-clamping module includes cylinder mounting plate and the finger cylinder for clamping workpiece.The cylinder
Mounting plate is fixed on the output shaft of Y' shaft step motors, drives it to horizontally rotate by Y' shaft step motors.The finger cylinder
It is mounted on cylinder mounting plate downward.
Further, the supporting table includes the controller and gas source generator being mounted in supporting table.The control
Device processed is electrically connected with X-axis stepper motor, y-axis stepper motor, Z axis stepper motor and gas source generator respectively.The air source
Generating means respectively with the first rodless cylinder, the second rodless cylinder, third rodless cylinder, the 4th rodless cylinder and finger gas
Cylinder is pneumatically connected.
Further, flexible robot is carried for convenience, and supporting table of the present invention further includes easy to remove and carries
Castor.The castor is separately mounted on the corner of bottom four of supporting table, and the castor uses universal wheel.
Preferred embodiment as the present invention improves the strong of flexible robot to mitigate the main screw lift of flexible robot
Degree, supporting table of the present invention are made of aluminium section bar material.
Further, in order to facilitate operation robot, power knob, instruction are additionally provided in supporting table of the present invention
Lamp and several arrow buttons moved for controlling each cylinder and stepper motor.The power knob, indicator light and side
It is electrically connected with the controller respectively to button.
Further, in order to avoid self-clamping module and the workpiece on unloading station collide, clamping mould of the present invention
Block further includes the optoelectronic switch for detecting whether workpiece.The optoelectronic switch is fixed on cylinder mounting plate, and with control
Device is electrically connected.When optoelectronic switch, which detects, also stores last round of workpiece on unloading station, under self-clamping module will stop
Drop, carries out blowing operation after taking the last round of workpiece on unloading station away, to protect flexible robot, avoids occurring again
It collides and damages.
Another object of the present invention is achieved through the following technical solutions：
A kind of control method of flexible robot, the control method mainly comprise the following specific steps that：
Step S1：Flexible robot initializes after being powered and enters system module option；
Step S2：Selection operating mode as needed：If selection manual mode thens follow the steps S3；If selecting semi-automatic mould
Formula thens follow the steps S4；If selection fully automatic mode thens follow the steps S5；
Step S3：Into manual mode：Controller goes to control the movement of corresponding rodless cylinder according to the connection of arrow button
And the steering of stepper motor, and corresponding program is generated after the sequence, step and kinematic parameter of operation arrow button are recorded,
Then the program of generation is detected, checks errorless rear execution step S6；
Step S4：Into semiautomatic-mode：Single -step operation or single cycle operation are selected after selecting corresponding semi-automatic program；
If selecting single -step operation, lower button is pressed every time, and robot just stops after having executed a step operation program；If selecting monocycle behaviour
Make, then press lower button every time, robot just stops after having executed a cycle program；Step is executed after semiautomatic-mode
S6；
Step S5：Into fully automatic mode：Select corresponding full auto-programs, press start button robot will week and
Execute the program with renewing, until pressing stop button, fully automatic mode terminates and executes step S6；
Step S6：After having executed corresponding program, to switch other control models, then associative mode is selected, is otherwise pressed
Lower stop button terminates epicycle operation.
As the preferred embodiment of the present invention, in order to protect flexible robot, the present invention before formally executing corresponding program,
System can simulate execution one time, if finding, mistake warning will stop executing and reporting an error.
As the preferred embodiment of the present invention, in order to improve the control accuracy of flexible robot, the present invention is executing journey every time
Judge whether system is in origin before sequence, cylinder and reset motor are not controlled if origin if system.
Preferred embodiment as the present invention avoids colliding with workpiece, the present invention is every to protect flexible robot
Before secondary self-clamping module declines and discharges workpiece, if optoelectronic switch detects on unloading station there are last round of workpiece, stop
Only decline, until unloading station is emptied.
Working process and principle of the invention are：After entire flexible pneumatic robot and control system are powered, supporting
Be provided on the control panel of platform after power knob key and power supply indicator key open these buttons, the flexible pneumatic robot and
System has single operation (manual) and stepping, monocycle and continuous operation (rear three kind is automatically brought into operation) four kinds of working methods, soft
Property pneumatic robot self-clamping module be in Z axis topmost and Y' axis, Y-axis Far Left and finger cylinder are when being in release, referred to as
System is in origin state or original state.The various working methods of flexible robot can arbitrarily switch, easy to operate.
Manual operation：Exactly each step movement of robot is individually controlled with push-botton operation.
Step-by-step operation：One-shot button is often pressed, robot is automatically stopped after completing step action, and by encoder system
It is acted to record each step, after feeding back to switch board logging program board and naming.The machine person i.e. under single -step operation mode
After selecting program board name file, since initial step, after pressing start button, system is transformed into next step, completes the step
After task, it is automatically stopped work and is parked in the step, then click start button, and make a move forward.
Single cycle operation：Robot is since origin, and then since initial step, robot is automatically performed a cycle
After action, returns and rest on initial step.
Continuous operation：Robot clicks start button since origin, the action of robot will automatically, it is continuous not
Disconnected ground periodic cycle.Stop button is clicked at work, then robot is returned after the action for continuing to complete a cycle
It is automatically stopped to origin.
Before selection monocycle, continuous and single step working method, system should be at origin state.Such as it is unsatisfactory for this
Aligning control working method may be selected in part.Aligning control start button is pressed, system auto-returned origin state is made.When the robot right side
When moving on to position and preparing to decline, in order to ensure safety, it is necessary to just robot be allowed to decline when right workbench is without workpiece.That is, if
When the workpiece that last time is transported on right workbench is not yet moved, robot should be automatically stopped decline, it is therefore desirable to optoelectronic switch
It carries out without workpiece sensing, if being connected at this time without workpiece, optoelectronic switch on right workbench, declines solenoid valves.
The selection of working method can be selected easily on operation panel very much.When knob beat to it is manual when, each work step
The work step button, which will be pressed, to be realized.And when knob beat to it is automatic when, system is automatically performed the operation of each work step, and recycles dynamic
Make.Electrical main loop design is 24V DC voltages by the electromagnetic valve coil of master cylinder, and PLC power supplys are 220V AC powers,
Therefore, reach required DC voltage with a power module.In order to when opening power supply there are one instruction, need to also be in panel
One power supply indicator of upper setting.Control system hardware circuit is by CPU, program storage, data storage, serial line interface electricity
The compositions such as road, parallel interface, photoelectric isolating circuit, power-down protection circuit.)
Compared with prior art, the present invention has further the advantage that：
(1) flexible robot provided by the present invention is that conveniently (general factory is all for air source using air pressure driving major advantage
Supply compressed air by air compression station), can also make the hydraulic oil generated by hydraulic-driven in following industrial robot because
It is improper to discharge, and obtains effective solution scheme and can also reduce to water resource and soil, the pollution of air.
It (2), can generation after operation compared with traditional artificial operation after flexible robot provided by the present invention is put into production
For the production work of one to two people, such as in the promotion and application for carrying stacking, the labor intensity of worker is also reduced, to
Personal management pressure is reduced for enterprise, lowers human cost, yield and the output value can also be improved, improve the quality and stability of product
Property.
(3) flexible robot provided by the present invention can be complicated for operation to existing robot teaching with effective solution,
Price, maintenance costs are high, and the bright spot of flexible pneumatic robot：System is that flexible pneumatic robot can be made with soft
Property and cushioning effect, simple in structure, System Utilization Procedure is easy to learn, and all using rotary switch, electronic key control is flexible
Pneumatic robot, it is at low cost, it is easy to repair.
Description of the drawings
Fig. 1 is the structural schematic diagram of flexible robot provided by the present invention.
Fig. 2 is the partial schematic diagram of flexible robot provided by the present invention.
Fig. 3 is the front view of flexible robot provided by the present invention.
Fig. 4 is the right view of flexible robot provided by the present invention.
Fig. 5 is the stereogram of flexible robot provided by the present invention.
Fig. 6 is the control flow chart of flexible robot provided by the present invention.
Label declaration in above-mentioned attached drawing：
1- supporting tables, 2- guide rail mounting bases, 3- the linear guides, the first rodless cylinders of 4-, 5-Y axis cylinder mounting bases, 6-
Two rodless cylinders, 7-Y spindle motor mounting plates, 8-Y shaft step motors, 9-Z axis cylinder mounting bases, 10- third rodless cylinders, 11-Z
Spindle motor mounting plate, 12-Z shaft step motors, 13-Y' axis cylinder mounting bases, the 4th rodless cylinders of 14-, the installation of 15-Y' spindle motors
Plate, 16-Y' shaft step motors, 17- cylinder mounting plates, 18- finger cylinders.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
Embodiment 1：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the invention discloses a kind of flexible robots, which mainly wraps
Include supporting table 1, the X-axis module that is arranged in supporting table 1, Y-axis module, Z axis module, Y' axle modules and for clamping workpiece
Self-clamping module.The X-axis module is fixed in supporting table 1, and the Y-axis module is arranged in X-axis module, is driven by X-axis module
Move its straight reciprocating.The Z axis module is arranged in Y-axis module, by its straight reciprocating of Y-axis module drive and level
Rotation.The Y' axle modules are arranged in Z axis module, and by Z axis module drive, it moves up and down and vertically rotates, Y' axle modules position
It is parallel to each other with Y-axis module in the top of Y-axis module.The self-clamping module is arranged on Y' axle modules, drives it straight by Y' axis
Line moves back and forth and horizontally rotates.
Specifically, the X-axis module includes the first rodless cylinder 4, the linear guide 3 and guide rail mounting base 2.Described
One rodless cylinder 4 is fixed in supporting table 1, and the guide rail mounting base 2 is separately positioned on the both sides of the first rodless cylinder 4,
It is parallel with the first rodless cylinder 4.The linear guide 3 is separately mounted in guide rail mounting base 2.
Specifically, the Y-axis module include the second rodless cylinder 6, Y-axis cylinder mounting base 5, y-axis motor mounting plate 7, with
And y-axis stepper motor 8.The both ends of the Y-axis cylinder mounting base 5 are separately fixed in the linear guide 3, and middle part is with first without bar
The sliding block of cylinder 4 connects, and drives it to be moved back and forth in the linear guide 3 by the first rodless cylinder 4.Second rodless cylinder 6
In Y-axis cylinder mounting base 5.The y-axis motor mounting plate 7 is fixed on the sliding block of the second rodless cylinder 6, described
Y-axis stepper motor 8 is mounted on y-axis motor mounting plate 7.
Specifically, the Z axis module include third rodless cylinder 10, Z axis cylinder mounting base 9, Z axis motor mounting plate 11,
And Z axis stepper motor 12.The end of the Z axis cylinder mounting base 9 is mounted on the output shaft of y-axis stepper motor 8, by Y-axis
Stepper motor 8 drives it to horizontally rotate.The third rodless cylinder 10 is fixed in Z axis cylinder mounting base 9.The Z axis stepping
Motor 12 is mounted on Z axis motor mounting plate 11, and Z axis motor mounting plate 11 is fixed on the sliding block of third rodless cylinder 10.
Specifically, the Y' axle modules include the 4th rodless cylinder 14, Y' axis cylinders mounting base 13, Y' spindle motor mounting plates
15 and Y' shaft step motors 16.The end of the Y' axis cylinder mounting base 13 is fixed on the output shaft of Z axis stepper motor 12
On, its vertical rotation is driven by Z axis stepper motor 12.4th rodless cylinder 14 is fixed in Y' axis cylinders mounting base 13.
The Y' shaft step motors 16 are mounted on Y' spindle motors mounting plate 15, and the Y' spindle motors mounting plate 15 is fixed on the 4th without bar
On the sliding block of cylinder.
Specifically, the self-clamping module includes cylinder mounting plate 17 and the finger cylinder 18 for clamping workpiece.It is described
Cylinder mounting plate 17 is fixed on the output shaft of Y' shaft step motors 16, drives it to horizontally rotate by Y' shaft step motors 16.Institute
Finger cylinder 18 is stated to be mounted on cylinder mounting plate 17 downward.
Further, the supporting table 1 includes the controller and gas source generator being mounted in supporting table 1.It is described
Controller is electrically connected with X-axis stepper motor, y-axis stepper motor 8, Z axis stepper motor 12 and gas source generator respectively.Institute
State gas source generator respectively with the first rodless cylinder 4, the second rodless cylinder 6, third rodless cylinder 10, the 4th rodless cylinder
14 and finger cylinder 18 be pneumatically connected.
Further, flexible robot is carried for convenience, and supporting table 1 of the present invention further includes easy to remove and carries
Castor.The castor is separately mounted on the corner of bottom four of supporting table 1, and the castor uses universal wheel.
Preferred embodiment as the present invention improves the strong of flexible robot to mitigate the main screw lift of flexible robot
Degree, supporting table 1 of the present invention are made of aluminium section bar material.
Further, it in order to facilitate operation robot, is additionally provided with power knob in supporting table 1 of the present invention, refers to
Show that lamp and several are used to control each cylinder and the arrow button of stepper motor movement.The power knob, indicator light and
Arrow button is electrically connected with the controller respectively.
Further, in order to avoid self-clamping module and the workpiece on unloading station collide, clamping mould of the present invention
Block further includes the optoelectronic switch for detecting whether workpiece.The optoelectronic switch is fixed on cylinder mounting plate 17, and with control
Device electrical connection processed.When optoelectronic switch, which detects, also stores last round of workpiece on unloading station, self-clamping module will stop
Decline, carries out blowing operation again after taking the last round of workpiece on unloading station away, to protect flexible robot, avoid sending out
Life is collided and is damaged.
As shown in fig. 6, the invention also discloses a kind of control method of flexible robot, which includes mainly such as
Lower specific steps：
Step S1：Flexible robot initializes after being powered and enters system module option；
Step S2：Selection operating mode as needed：If selection manual mode thens follow the steps S3；If selecting semi-automatic mould
Formula thens follow the steps S4；If selection fully automatic mode thens follow the steps S5；
Step S3：Into manual mode：Controller goes to control the movement of corresponding rodless cylinder according to the connection of arrow button
And the steering of stepper motor, and corresponding program is generated after the sequence, step and kinematic parameter of operation arrow button are recorded,
Then the program of generation is detected, checks errorless rear execution step S6；
Step S4：Into semiautomatic-mode：Single -step operation or single cycle operation are selected after selecting corresponding semi-automatic program；
If selecting single -step operation, lower button is pressed every time, and robot just stops after having executed a step operation program；If selecting monocycle behaviour
Make, then press lower button every time, robot just stops after having executed a cycle program；Step is executed after semiautomatic-mode
S6；
Step S5：Into fully automatic mode：Select corresponding full auto-programs, press start button robot will week and
Execute the program with renewing, until pressing stop button, fully automatic mode terminates and executes step S6；
Step S6：After having executed corresponding program, to switch other control models, then associative mode is selected, is otherwise pressed
Lower stop button terminates epicycle operation.
As the preferred embodiment of the present invention, in order to protect flexible robot, the present invention before formally executing corresponding program,
System can simulate execution one time, if finding, mistake warning will stop executing and reporting an error.
As the preferred embodiment of the present invention, in order to improve the control accuracy of flexible robot, the present invention is executing journey every time
Judge whether system is in origin before sequence, cylinder and reset motor are not controlled if origin if system.
Preferred embodiment as the present invention avoids colliding with workpiece, the present invention is every to protect flexible robot
Before secondary self-clamping module declines and discharges workpiece, if optoelectronic switch detects on unloading station there are last round of workpiece, stop
Only decline, until unloading station is emptied.
Working process and principle of the invention are：After entire flexible pneumatic robot and control system are powered, supporting
After these buttons being opened on the control panel of platform 1 provided with power knob key and power supply indicator key, the flexible pneumatic robot
There are single operation (manual) and stepping, monocycle and continuous operation (rear three kind is automatically brought into operation) four kinds of working methods with system,
The self-clamping module of flexible pneumatic robot is in Z axis topmost and Y' axis, Y-axis Far Left and finger cylinder 18 are when being in release,
Referred to as system is in origin state or original state.The various working methods of flexible robot can arbitrarily switch, easy to operate.
Manual operation：Exactly each step movement of robot is individually controlled with push-botton operation.
Step-by-step operation：One-shot button is often pressed, robot is automatically stopped after completing step action, and by encoder system
It is acted to record each step, after feeding back to switch board logging program board and naming.The machine person i.e. under single -step operation mode
After selecting program board name file, since initial step, after pressing start button, system is transformed into next step, completes the step
After task, it is automatically stopped work and is parked in the step, then click start button, and make a move forward.
Single cycle operation：Robot is since origin, and then since initial step, robot is automatically performed a cycle
After action, returns and rest on initial step.
Continuous operation：Robot clicks start button since origin, the action of robot will automatically, it is continuous not
Disconnected ground periodic cycle.Stop button is clicked at work, then robot is returned after the action for continuing to complete a cycle
It is automatically stopped to origin.
Before selection monocycle, continuous and single step working method, system should be at origin state.Such as it is unsatisfactory for this
Aligning control working method may be selected in part.Aligning control start button is pressed, system auto-returned origin state is made.When the robot right side
When moving on to position and preparing to decline, in order to ensure safety, it is necessary to just robot be allowed to decline when right workbench is without workpiece.That is, if
When the workpiece that last time is transported on right workbench is not yet moved, robot should be automatically stopped decline, it is therefore desirable to optoelectronic switch
It carries out without workpiece sensing, if being connected at this time without workpiece, optoelectronic switch on right workbench, declines solenoid valves.
The selection of working method can be selected easily on operation panel very much.When knob beat to it is manual when, each work step
The work step button, which will be pressed, to be realized.And when knob beat to it is automatic when, system is automatically performed the operation of each work step, and recycles dynamic
Make.Electrical main loop design is 24V DC voltages by the electromagnetic valve coil of master cylinder, and PLC power supplys are 220V AC powers,
Therefore, reach required DC voltage with a power module.In order to when opening power supply there are one instruction, need to also be in panel
One power supply indicator of upper setting.Control system hardware circuit is by CPU, program storage, data storage, serial line interface electricity
The compositions such as road, parallel interface, photoelectric isolating circuit, power-down protection circuit.)
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of flexible robot, which is characterized in that including supporting table, the X-axis module being arranged in supporting table, Y-axis module, Z
Axle module, Y' axle modules and the self-clamping module for clamping workpiece；The X-axis module is fixed in supporting table, the Y-axis
Module is arranged in X-axis module, by its straight reciprocating of X-axis module drive；The Z axis module is arranged in Y-axis module, by
Its straight reciprocating of Y-axis module drive and horizontally rotate；The Y' axle modules are arranged in Z axis module, by Z axis module drive
It moves up and down and vertically rotates；The self-clamping module is arranged on Y' axle modules, by Y' axis drive its straight reciprocating and
Horizontally rotate；
The X-axis module includes the first rodless cylinder, the linear guide and guide rail mounting base；First rodless cylinder is fixed
It is arranged in supporting table, the guide rail mounting base is separately positioned on the both sides of the first rodless cylinder, parallel with the first rodless cylinder；
The linear guide is separately mounted in guide rail mounting base；
The Y-axis module includes the second rodless cylinder, Y-axis cylinder mounting base, y-axis motor mounting plate and y-axis stepper motor；
The both ends of the Y-axis cylinder mounting base are separately fixed in the linear guide, and middle part is connect with the sliding block of the first rodless cylinder, by
First rodless cylinder drives it to be moved back and forth in the linear guide；Second rodless cylinder is mounted in Y-axis cylinder mounting base；
The y-axis motor mounting plate is fixed on the sliding block of the second rodless cylinder, and the y-axis stepper motor is mounted on y-axis motor
On mounting plate；
The Z axis module includes third rodless cylinder, Z axis cylinder mounting base, Z axis motor mounting plate and Z axis stepper motor；
The end of the Z axis cylinder mounting base is mounted on the output shaft of y-axis stepper motor, drives its level to turn by y-axis stepper motor
It is dynamic；The third rodless cylinder is fixed in Z axis cylinder mounting base；The Z axis stepper motor is mounted on Z axis motor mounting plate
On, Z axis motor mounting plate is fixed on the sliding block of third rodless cylinder；
The Y' axle modules include the 4th rodless cylinder, Y' axis cylinders mounting base, Y' spindle motors mounting plate and Y' axis stepping electricity
Machine；The end of the Y' axis cylinder mounting base is fixed on the output shaft of Z axis stepper motor, drives it to hang down by Z axis stepper motor
Straight rotation；4th rodless cylinder is fixed in Y' axis cylinder mounting bases；The Y' shaft step motors are mounted on Y' spindle motors
On mounting plate, the Y' spindle motors mounting plate is fixed on the sliding block of the 4th rodless cylinder；
The self-clamping module includes cylinder mounting plate and the finger cylinder for clamping workpiece；The cylinder mounting plate is fixed
On the output shaft of Y' shaft step motors, it is driven to horizontally rotate by Y' shaft step motors；The finger cylinder is mounted on downward
On cylinder mounting plate.
2. flexible robot according to claim 1, which is characterized in that the supporting table includes being mounted in supporting table
Controller and gas source generator；The controller respectively with X-axis stepper motor, y-axis stepper motor, Z axis stepper motor,
And gas source generator electrical connection；The gas source generator respectively with the first rodless cylinder, the second rodless cylinder, third without
Bar cylinder, the 4th rodless cylinder and finger cylinder are pneumatically connected.
3. flexible robot according to claim 1, which is characterized in that the supporting table further includes easy to remove and carries
Castor；The castor is separately mounted on the corner of bottom four of supporting table, and the castor uses universal wheel.
4. flexible robot according to claim 1, which is characterized in that the supporting table is made of aluminium section bar material.
5. flexible robot according to claim 2, which is characterized in that be additionally provided with power knob in the supporting table, refer to
Show that lamp and several are used to control each cylinder and the arrow button of stepper motor movement；The power knob, indicator light and
Arrow button is electrically connected with the controller respectively.
6. flexible robot according to claim 2, which is characterized in that the self-clamping module further includes for detecting whether
There is the optoelectronic switch of workpiece；The optoelectronic switch is fixed on cylinder mounting plate, and is electrically connected with the controller.
7. a kind of control method of flexible robot, which is characterized in that comprise the following specific steps that：
Step S1：Flexible robot initializes after being powered and enters system module option；
Step S2：Selection operating mode as needed：If selection manual mode thens follow the steps S3；If selecting semiautomatic-mode
Execute step S4；If selection fully automatic mode thens follow the steps S5；
Step S3：Into manual mode：Controller goes to control movement and the step of corresponding rodless cylinder according to the connection of arrow button
The steering of stepper motor, and corresponding program is generated after the sequence, step and kinematic parameter of operation arrow button are recorded, then
The program of generation is detected, checks errorless rear execution step S6；
Step S4：Into semiautomatic-mode：Single -step operation or single cycle operation are selected after selecting corresponding semi-automatic program；If choosing
Single -step operation is selected, then presses lower button every time, robot just stops after having executed a step operation program；If selecting single cycle operation,
Lower button is then pressed every time, and robot just stops after having executed a cycle program；Step S6 is executed after semiautomatic-mode；
Step S5：Into fully automatic mode：Corresponding full auto-programs are selected, pressing start button robot will be in cycles
Ground executes the program, and until pressing stop button, fully automatic mode terminates and executes step S6；
Step S6：After having executed corresponding program, to switch other control models, then associative mode is selected, otherwise presses and stops
Only button terminates epicycle operation.
8. the control method of flexible robot according to claim 7, which is characterized in that formally execute corresponding program it
Before, system can simulate execution one time, if finding, mistake warning will stop executing and reporting an error.
9. the control method of flexible robot according to claim 7, which is characterized in that sentence before executing program every time
Whether disconnected system is in origin, and cylinder and reset motor are not controlled if origin if system.
10. the control method of flexible robot according to claim 7, which is characterized in that decline in each self-clamping module
And before discharging workpiece, if optoelectronic switch detects on unloading station there are last round of workpiece, stop declining, until discharging
Until station is emptied.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111038802A (en) * | 2019-12-31 | 2020-04-21 | 合肥浩普智能装备科技有限公司 | Intelligent flexible packagine machine of robot formula |
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