Truss type mechanical arm control method and system for automatic feeding and discharging of machine tool

Abstract

The invention relates to the technical field of automatic machine tool control. The embodiment of the invention provides a truss type mechanical arm control method and system for automatic feeding anddischarging of a machine tool. The method comprises the steps that three-dimensional coordinates of a feeding point and three-dimensional coordinates of a reloading point are obtained, and the machine tool sets zero-point three-dimensional coordinates for multiple layers of material discs; on the basis of the three-dimensional coordinates of the feeding point, the three-dimensional coordinates ofthe reloading point and the zero-point three-dimensional coordinates, a plurality of middle position coordinates are generated; and according to the multiple middle position coordinates, a mechanicalarm is controlled to replace machined workpieces at the reloading point with to-be-machined workpieces conveyed from the feeding point. Accordingly, automatic control over feeding and discharging ofthe machine tool in the multi-axis three-dimensional space is achieved; meanwhile, since only two points need to be given, the programming testing process is simple, and testing personnel can easily conduct operation; and furthermore, in the embodiment, the models and the types of machine tools are not limited, so that the technical scheme has high universality.

Description

technical field [0001] The invention relates to the technical field of automatic machine tool control, in particular to a control method and system for a truss-type manipulator used for automatic loading and unloading of machine tools. Background technique [0002] The machine tool loading and unloading robot replaces the manual automatic loading and unloading function of the workpiece in the CNC machine tool loading and unloading link. The CNC machine tool loading and unloading robot has the advantages of fast speed, high flexibility, high efficiency, high precision, and no pollution. In the era of emerging industrialization, industrial robots for loading and unloading machine tools can meet the production requirements of fast and large-scale processing beats, save human resource costs, and greatly improve the production efficiency of factories. In terms of flexible manufacturing systems, the automatic loading and unloading device of the manipulator is an important aspec...

AI Technical Summary

Problems solved by technology

Due to the bus servo control adopted by the high-end CNC system, the servo drive and servo motor of the same brand as the CNC system are required, which is expensive, requires a long time to program and debug multiple positions, and is not suitable for lathes equipped with other CNC systems. It is universal relatively poor sex

In addition, the solution of using industrial computer with motion controller to control the truss-type manipulator is also very expensive due to the high cost of the industrial computer. The application development cycle of the motion controller is long and occupies a large area of ​​the customer's factory.

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