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Motion control method for office swivel chair production

A motion control, swivel chair technology, applied in the direction of comprehensive factory control, program control manipulators, manufacturing tools, etc., can solve problems such as lack of standardization, and achieve the effect of improving the level of intelligent motion control

Active Publication Date: 2021-07-16
XIAMEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Since the existing automated production of office swivel chairs mainly relies on industrial robots to complete relevant process operations, whether the operation arm of the industrial robot can be accurately controlled to complete the specified operation according to the control instructions of the industrial computer determines whether the process can be completed smoothly. ; and currently there is no standardized industrial robot motion control scheme for the entire production process of office swivel chairs

Method used

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  • Motion control method for office swivel chair production

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Embodiment Construction

[0029] The present invention will be further described below through specific embodiments.

[0030] Such as figure 1 As shown, it is the implementation flow chart of the motion control scheme for the office swivel chair provided in the embodiment of this application, and the specific implementation scheme includes:

[0031] (1) Establishing the mathematical model of the industrial robot is mainly to determine the torsion angle, distance, length and angle range of each joint of the robot according to the D-H parameter determination rules. Usually, the D-H parameter table can be obtained from the specific model of the industrial robot operation manual; optionally, This application can use the Yaskawa MH12 robot as the operating robot in the production process of the swivel chair. The robot has 6 series rotating joints. The four types of parameters (twist angle, distance, length and Angle range), the relevant details of the connecting rod transformation matrix expression of the ...

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Abstract

The invention provides a motion control method for office swivel chair production. The method specifically comprises the following steps: determining the torsion angle, distance, length and angle range of each joint of an industrial robot according to a D-H parameter determination rule, and establishing a mathematical model of the industrial robot; carrying out on-line positioning of a punching position, a connecting point position, a glue spraying area and a cotton pasting area according to a calibration parameter matrix; in an acquisition process step, if in a swivel chair wood board punching and riveting process, a swivel chair armrest connecting piece locking process, a swivel chair wood board glue spraying and cotton pasting process and a swivel chair finished product box sealing process, solving a track path and joint information of a tail end mechanical arm of the industrial robot; if in a swivel chair finished product stacking process, determining a motion path of a stacking robot; and verifying whether the track path and the motion path meet requirements or not. The method provided by the invention is favorable for completing accurate control of automatic production of office swivel chairs, and various technological processes of automatic production of the office swivel chairs are efficiently and orderly completed.

Description

technical field [0001] The invention relates to the field of motion control in industrial production, in particular to a motion control method for the production of office swivel chairs. Background technique [0002] Since the existing automated production of office swivel chairs mainly relies on industrial robots to complete relevant process operations, whether the operation arm of the industrial robot can be accurately controlled to complete the specified operation according to the control instructions of the industrial computer determines whether the process can be completed smoothly. ; and currently there is no standardized industrial robot motion control scheme for the entire production process of office swivel chairs. Contents of the invention [0003] The main purpose of the present invention is to overcome the above-mentioned defects in the prior art, and propose a motion control method for the production of office swivel chairs, which can be used for punching / rive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1661B25J9/1697Y02P90/02
Inventor 曾念寅吴佩树谢路生李寒
Owner XIAMEN UNIV
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