An anti-interference device and control method for a joint robot rotation axis
An anti-interference device and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of reduced production line accuracy, easy interference of rotating axes, damage to joint robots or workpieces, etc., to achieve the effect of strong anti-interference ability
Active Publication Date: 2018-06-22
宁夏巨能机器人股份有限公司
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Problems solved by technology
[0002] Joint robot, also known as joint arm robot or joint robot arm, is one of the most common forms of industrial robots in today's industrial field; it is suitable for mechanical automation operations in many industrial fields, such as automatic assembly, painting, handling and welding. ; According to the structure of joint robots, it is classified into five-axis and six-axis joint robots, pallet joint robots and planar joint robots. Programming can complete fully automated work, improve production efficiency, controllable error rate, and replace many complex tasks that are not suitable for manpower and harmful to health, such as spot welding of car shells; due to the complicated working environment of joint robots, And on the same production line, workpieces with different gravity need to be grasped, so the rotating shaft is easily disturbed. In addition, the mutual interference between electrical appliances and the wear of joints are likely to cause certain interference to the rotating shaft, which will easily cause the accuracy of the entire production line to decrease, or even Damage to jointed robot or workpiece
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Embodiment 1
[0026] When the joint robot needs to grab the workpiece down, grab the workpiece up and down to place the workpiece; it takes 0.7 seconds to grab the workpiece down, that is, the servo motor needs a pulse duration of 0.7 seconds; after grabbing the workpiece, the rising time needs 0.9 seconds; That is, the servo motor needs a pulse duration of 0.9 seconds; then the joint robot runs along the track, moves the workpiece away from another designated point, and places the workpiece downward, and the downward time is 0.9 seconds;
[0027] When the joint robot grabs the workpiece downward, the powerful electromagnetic device does not act, that is, it is completed continuously in 0.7 seconds; after the workpiece is grabbed, the rising time is 0.9 seconds; at this time, 0.9 seconds are divided into 5 △t, and the time of each △t is 0.18 seconds; during each △t time, it keeps moving at a constant speed. When the △t time reaches 0.16 seconds, it can perform locking operation, giving the i...
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The invention discloses an interference resisting device of a joint robot rotating shaft. The device comprises a servo motor mechanism, the joint robot rotating shaft matched and mounted with a servo motor, and a discrete brake switch mounted on the outer side of the rotating shaft; the discrete brake switch includes a spring base, and an upper brake device and a lower brake device arranged on the upper side and the lower side of the spring base; the upper brake device is formed by mounting a magnetic block above an upper ring; the lower brake device is formed by mounting a powerful electromagnetic device below a lower ring; and the powerful electromagnetic device is connected to a power supply through a current adjusting device. A control method of the interference resisting device of the joint robot rotating shaft comprises the steps of: stepper division, discrete brake quantity adding, controller beat control and braking by the beat. In the interference resisting device of the joint robot rotating shaft, the servo motor for driving the joint rotating shaft is changed from traditional output continuous quantity to discrete quantity, and the discrete brake time is added in middle, so that the interference resisting capacity is high.
Description
technical field [0001] The invention relates to a articulated robot, in particular to an anti-interference device and a control method for a rotating shaft of a articulated robot, belonging to the technical field of articulated robots. Background technique [0002] Joint robot, also known as joint arm robot or joint robot arm, is one of the most common forms of industrial robots in today's industrial field; it is suitable for mechanical automation operations in many industrial fields, such as automatic assembly, painting, handling and welding. ; According to the structure of joint robots, it is classified into five-axis and six-axis joint robots, pallet joint robots and planar joint robots. Programming can complete fully automated work, improve production efficiency, controllable error rate, and replace many complex tasks that are not suitable for manpower and harmful to health, such as spot welding of car shells; due to the complicated working environment of joint robots, ...
Claims
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IPC IPC(8): B25J19/00B25J9/06
Inventor 宋明安孙洁付焕清刘学平同彦恒李志博麻辉
Owner 宁夏巨能机器人股份有限公司