Industrial robot operation four-segment method collaborative planning method

Abstract

The invention discloses an industrial robot operation four-segment method collaborative planning method. The method includes the following steps that firstly, the action of industrial robots is sequentially divided into four segments; secondly, the distances S between discharging and feeding waiting points and a machine tool are calculated; thirdly, the shortest operation time T_LO of a discharging operation segment and the shortest operation time T_UO for entering a next machine tool to conduct feeding operation are calculated; fourthly, the cycle T_all of the slowest processing unit is calculated; fifthly, the discharging starting moment of the discharging industrial robot of the slowest processing unit and the starting moment of the feeding industrial robot of the slowest processing unit are calculated out, on the premise that the whole line beat is not affected, the waiting time of the feeding industrial robot and the discharging industrial robot is eliminated, the operation speed of the discharging robot carrying a workpiece machined by the last machine tool to walk to the next machine tool (WU) is reduced and the operation speed of the feeding industrial robot finishing the feeding operation and then walking to the last machine tool to prepare discharging in a no-load mode are reduced, and the speed of the four segments of the industrial robots is balanced.

Description

technical field [0001] The invention relates to the technical field of automated production lines, in particular to a collaborative planning method for an industrial robot and a machine tool to coordinate loading and unloading in an automated production line. Background technique [0002] In the process of product processing, one or more processes are often required, and different processes are completed by different machine tools. Under the traditional production method, loading and unloading of machine tools is completely done manually. With the continuous improvement of the level of automation and the continuous increase of labor costs, automated production lines that use robots to load and unload machine tools have been widely used. Robots and machine tools are cross-arranged in the production line to form a sequence of robots—>machine tools—>robots—>machine tools—>robots. The robot at the head of the line grabs materials from a fixed location and loads mat...

AI Technical Summary

Problems solved by technology

First, when determining the waiting point for the robot to load and unload the machine tool, it is always as close as possible to the machine tool station. This method reduces the loading and unloading time of the robot, but this method requires the robot to accelerate from zero when receiving the loading and unloading signal. As a result, the efficiency of this method is lower than that of entering the machine tool at a certain initial speed

The second set speed is too high to easily exceed the load of the robot

If the speed is too low, it will further affect the production efficiency. It is almost impossible to find the optimal speed by manual setting.

Third, there is often more than one robot in a robotic automated production line. The efficiency of the entire production line is determined by the slowest machine tool and the operating cycle of the loading and unloading robot. No matter how fast the other robots are, they cannot improve the efficiency of the entire production line. efficiency

This is very detrimental to the service life of the robot and also increases energy consumption

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