A CAM variable assignment method based on electronic cam and truss double manipulator

Abstract

The present invention relates to a CAM variable assignment method based on an electronic cam and a truss dual manipulator. The present invention aims to solve the problems that a traditional cam mechanism is easy to wear, has poor flexibility, has a single trajectory, and needs to receive an electronic cam curve provided by a parallel servo control system. In addition, the existing solution is not flexible in generating the cam curve, and it is difficult to perform secondary development in the later stage. The present invention creates and designs a CAM assignment method. By assigning values ​​to key process points on the electronic cam, and performing difference compensation between process points through a quintic polynomial algorithm, the electronic cam curve can be flexibly generated online to meet process requirements. At the same time, a software and hardware platform for the electronic cam control system is built. Experiments verify that the robot output motion trajectory is more flexible, thus forming a CAM variable assignment method based on the electronic cam and a truss dual manipulator.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a CAM variable assignment method based on an electronic cam and a truss double manipulator. Background Art

[0002] In automated production, cam-type handling manipulators are an important and frequently used device. Their main function is to transfer materials from the production line to the next process or to store them. The traditional cam-type manipulator is a purely mechanical manipulator that uses a set of cam transmission mechanisms to achieve the manipulator motion curve set by the shaft output, and can achieve the material handling of the screening sheet. The cam-type manipulator has a mechanical structure that is extremely easy to wear, and the output motion trajectory is relatively simple.

[0003] In the common manipulators in industrial production, two sets of cam mechanisms use the same output shaft, one set of cam mechanisms controls the rising motion, and the other set of cam mechanisms controls the falling motion, and the two sets of cam mechanisms alternately complete the rising or falling motion. And through the invention patent of "A multi-track electronic cam placement manipulator and its control method", although it can realize that two motion controllers control two servo drivers respectively, and the drivers control each servo motor respectively, and then the two motor output ends respectively output two electronic cam curves to realize the change of the mechanical manipulator trajectory, this type of manipulator still lacks flexibility in the generation of the electronic cam trajectory, which is not conducive to later development and use.

[0004] In view of the limitations of the development of the above traditional cam robots and the inflexible CAM curve generation problems of the above electronic cam robots, which cannot really solve the actual problems of the enterprise, a CAM variable assignment method based on electronic cam is needed to solve the flexibility of cam curve generation, and a truss dual robot with this assignment method is needed to verify the effect and realize industrial production application. Summary of the invention

[0005] The purpose of the present invention is to provide a CAM variable assignment method and a truss dual manipulator based on an electronic cam, which are used to solve the problems in the prior art that the traditional truss manipulator is not flexible enough, has low strength, cannot control the stroke during grasping, cannot automatically adjust the path of the truss manipulator, and the problem of complex electronic cam curve adjustment.

[0006] In order to solve the above problems, the present invention provides a CAM variable assignment method based on electronic cam and a truss dual manipulator solution. By assigning CAM variables, the electronic cam curve can be flexibly changed, and the dual manipulators can complete different production processes.

[0007] A CAM variable assignment method based on electronic cam: Step 1: Design a set of variable points consisting of n1, n2, n3...n nThe second step is to write the information of the process points of the shaft to the corresponding n1, n2, n3...n according to the time sequence from front to back. n In the variable array composed of the above, the redundant variables are filled with 0; the third step is to correspond the CAM variables in the controller with the variable addresses on the host computer, so that the host computer and the controller can achieve normal communication, and at the same time, a database for storing the process recipes of each axis is established on the host computer; the fourth step is to assign the process point values ​​to the corresponding variables through the database to realize the change of the robot path.

[0008] The CAM variable assignment method based on electronic cam provided by the present invention also has the following technical features:

[0009] Furthermore, in the fifth step, the process point adjustment required for the robot path adjustment is repeated by repeating the second step, the third step, and the fourth step.

[0010] Furthermore, in the fifth step, for the process point adjustment required for the robot path adjustment, the data of the newly added process points in the second step are reassigned.

[0011] Furthermore, the cam curves of each axis are established by using the program. Bytype=3 is selected in the MC_CAM_REF function block. Bytype=3 means using variables to establish the cam curve and generate the X-axis cam curve table.

[0012] By applying the CAM variable assignment method based on electronic cam created by the present invention, if the process of the robot becomes complicated in the later stage, the process change can be achieved by simply adding a few CAM points. Through the ordinary quintic polynomial algorithm, the present invention emphasizes the method of assigning values ​​to the key points of the electronic cam. After the assignment, the key points are interpolated by the quintic polynomial, and a new electronic cam curve that meets the process requirements can be generated, so that the servo motor can output different actions; of course, this patent can also be applied to the method of assigning values ​​to non-key points to achieve process changes;

[0013] The flexibility of the variable assignment method created by the present invention is reflected in that: the position point is represented by a variable at the corresponding time node, and the trajectory corresponding to the servo motor output can be changed by assigning a value to the variable. When the process needs to be changed, the robot can reach the corresponding position by simply attaching a corresponding value to the corresponding variable. Compared with the traditional mechanical cam or the switching between several electronic cam curves to achieve the robot process change, it is more flexible;

[0014] At the same time, compared with the prior art, in which the change of the cam trajectory is achieved by controlling two servo motion devices through two motion controllers, and driving the two servo motors to output different electronic cam curves at different times, thereby completing different processes, the invention is achieved by adopting a virtual main axis control method, establishing two virtual axes through a motion controller, the virtual axis serves as the main axis, and the real axes of each manipulator serve as the slave axis, and by changing the key points of the electronic cam of each axis, different curves are output to complete different processes, which greatly reduces the programming workload of process adjustment. Through key point control, it can meet the production needs of rapid process adjustment, and can also provide good support for flexible production.

[0015] A truss dual manipulator based on the CAM variable assignment method of electronic cam comprises a control system, wherein the control system comprises an IPC300 Advantech industrial computer, an LMC078 motion controller, an LXM32S servo driver, a BMH servo motor and an absolute encoder which are all encapsulated inside the servo motor, the industrial computer and the controller are connected for communication, the controller and the driver are connected for ring network through a SERCOS bus, the driver and the encoder are connected to control the movement of the motor; the controller signal input / output port is connected to the driver through the SERCOS bus to complete the transmission of control commands, the servo driver is connected to an absolute encoder through an encoder connector to realize encoder control communication, the absolute encoder is connected to the servo motor to realize the feedback of the motor movement state.

[0016] The truss dual manipulator based on the CAM variable assignment method of the electronic cam provided by the present invention also has the following technical features:

[0017] Furthermore, the absolute encoder has a power-off memory function.

[0018] Furthermore, the truss dual manipulator based on the CAM variable assignment method of the electronic cam includes two single arms, a Y-axis fixed beam, an X-axis moving beam, a connecting plate, a Z-axis moving column, an R-axis rotating mechanism, and an F-axis flipping mechanism. Each single arm has 6 axes, each axis is equipped with a servo motor, a rack is installed on the Y-axis fixed beam of the truss dual manipulator, the servo motor and the X-axis moving beam are fixed together through the connecting plate, the movement of the Y-axis is realized by the X-axis moving beam, and the servo motor, reducer, and gear of the Y-axis are installed on the moving X-axis moving beam; the X-axis servo motor and reducer are installed on the X-axis connecting plate, and the X-axis connecting plate moves relative to the X-axis. The reciprocating motion of the beam is achieved through the cooperation between the servo motor, reducer, gear and rack; the Z-axis uses two motors meshed together through electronic gears, and the Z-axis servo motor realizes the up and down movement of the Z-axis moving column through the cooperation of the reducer, gear and rack. The servo motor and reducer of the R-axis are installed at the lower end of the Z-axis moving column, and the feeding of the R-axis is achieved through the transmission of gears. The suction cup connecting plate and the driven gear are fixed together, and the main gear drives the driven gear to rotate; the servo motor and reducer of the F-axis are both installed at the lower end of the R-axis rotating mechanism. The F-axis controls the flipping of the suction cup fixture, and the flipping is achieved through the transmission of gears.

[0019] Furthermore, both ends of the F-axis are connected to servo motors, and the two servo motors of the F-axis are meshed in a straight line through electronic gears. At the same time, the output ends of the servo motors are connected to two sets of diameter wheel transmission mechanisms to achieve the flipping action.

[0020] Furthermore, the truss dual manipulator also includes a truss base, a fixed column, a truss dual manipulator suction cup, a first arm F-axis flip motor group, a first arm F-axis gear transmission structure, a first arm R-axis servo motor, a first arm R-axis rotation mechanism, a first arm Y-axis gear, a first arm Y-axis servo motor group, a first arm X-axis servo motor, a first arm Z-axis servo motor group, a Y-axis rack, a first arm A-axis servo motor, a second arm F-axis gear transmission structure, a first arm Y-axis fixed beam, a first arm X-axis movable beam, a second arm Y-axis servo motor group, a second arm X-axis servo motor, a second arm Z-axis servo motor group, a second arm R-axis servo motor, a second arm F-axis flip motor group, a second arm R-axis rotation mechanism, and a second arm A-axis servo motor; The second arm Y-axis servo motor group is composed of the second arm Y-axis first servo motor and the second arm Y-axis second servo motor, the first arm Y-axis servo motor group is composed of the first arm Y-axis first servo motor and the first arm Y-axis second servo motor, the first arm Z-axis servo motor group is composed of the first arm Z-axis first servo motor and the first arm Z-axis second servo motor, the second arm Z-axis servo motor group is composed of the second arm Z-axis first servo motor and the second arm Z-axis second servo motor; the first arm F-axis flip motor group is composed of the first arm F-axis first servo motor and the first arm F-axis second servo motor, the second arm F-axis flip motor group is composed of the second arm F-axis first servo motor and the second arm F-axis second servo motor;

[0021] U-shaped components are arranged on both sides of the truss dual manipulator suction cup, and a fixed shaft is fixedly arranged on the U-shaped component. The fixed shaft and the servo motor of the F-axis form a meshing transmission mechanism through a gear transmission mechanism;

[0022] The X-axis moving beam includes a first arm X-axis moving beam and a second arm X-axis moving beam, and the Z-axis moving column includes a first arm Z-axis moving column and a second arm Z-axis moving column;

[0023] The first arm X-axis moving beam and the second arm X-axis moving beam are straddling the Y-axis fixed beam, and the two ends of the first arm X-axis moving beam are respectively connected to the first arm Y-axis first servo motor, the first arm Y-axis second servo motor and the Y-axis rack of the Y-axis fixed beam to form a meshing walking mechanism, and the two ends of the second arm X-axis moving beam are respectively connected to the second arm Y-axis first servo motor, the second arm Y-axis second servo motor and the Y-axis rack of the Y-axis fixed beam to form a meshing walking mechanism;

[0024] The first arm X-axis servo motor forms a walking mechanism through the X-axis rack on the first arm X-axis moving beam, and the second arm X-axis servo motor forms a walking mechanism through the X-axis rack on the second arm X-axis moving beam;

[0025] The first arm Z-axis moving column forms a walking mechanism through the Z-axis rack and the first arm Z-axis first servo motor and the first arm Z-axis second servo motor, and the second arm Z-axis moving column forms a walking mechanism through the Z-axis rack and the second arm Z-axis first servo motor and the second arm Z-axis second servo motor.

[0026] Furthermore, the clamp is equipped with an A-axis servo motor and a reducer. The first arm A-axis servo motor adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp. The second arm A-axis servo motor adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp.

[0027] Furthermore, the X-axis moving beam meshes the Y-axis servo motors at both ends together through electronic gears to ensure movement synchronization.

[0028] Furthermore, each robot arm of the truss dual robot is arranged side by side or symmetrically.

[0029] Furthermore, the output shaft of the X-axis servo motor of the first arm is connected to the spline shaft through a reducer, the spline shaft is connected to the gear, and the gear is meshed with the rack.

[0030] Furthermore, the X-axis moving beam meshes the servo motors at both ends together through electronic gears to ensure movement synchronization.

[0031] Furthermore, the X-axis servo motor and reducer are installed on the X-axis connecting plate, and the reciprocating motion of the X-axis connecting plate relative to the X-axis moving beam is achieved through the mutual cooperation between the servo motor, reducer, gear and rack.

[0032] Furthermore, the Z-axis driving components are also assembled on the X-axis connecting plate. Due to the heavy load of the truss dual manipulator, two motors are used for the Z-axis to mesh together through electronic gears. The Z-axis servo motor realizes the up and down movement of the Z-axis moving column through the cooperation of a reducer, gears and racks.

[0033] Furthermore, the servo motor and reducer of the R-axis are installed at the lower end of the Z-axis moving column. The feed of the axis is achieved through gear transmission. The suction cup connecting plate and the driven gear are fixed together. The main gear drives the driven gear to rotate. The maximum rotation of the R-axis is 300 degrees.

[0034] Furthermore, the two servo motors and reducer of the F-axis are installed at the lower end of the R-axis rotation mechanism. The F-axis controls the flipping of the suction cup fixture. The flipping is achieved through gear transmission. The two servo motors use electronic gears to ensure that they are meshed in a straight line. At the same time, the motor output end is connected to two sets of diameter wheel transmission mechanisms to achieve the flipping action.

[0035] Furthermore, a servo motor and reducer for the A-axis are installed on the fixture. The A-axis is the clamping distance adjustment axis. According to the size of the wafer, the spacing of the fixture is adjusted through the roller screw to facilitate grasping. According to what type of wafer the robot needs to grasp, communication is carried out with the industrial computer through the database, and the specific path information in the recipe is assigned to the corresponding address of the host computer, and then the host computer writes it to the corresponding cam variable of the controller.

[0036] The present invention has the following beneficial effects: The present invention uses a CAM variable assignment method based on an electronic cam and a truss dual manipulator, and in combination with specific technical means, has the following advantages:

[0037] 1. The electronic cam curve generation method provided by the present invention can flexibly change the motion trajectory of each axis of the truss manipulator, so as to facilitate the machine to complete different processes; the position point is represented by a variable at the corresponding time node, and the trajectory corresponding to the servo motor output can be changed by assigning a value to the variable. When the process needs to be changed, the manipulator can reach the corresponding position by attaching the corresponding value to the corresponding variable. Compared with the traditional mechanical cam or switching between several electronic cam curves to realize the process change of the manipulator, it is more flexible.

[0038] 2. The double-truss manipulator can carry tempered glass weighing up to 1.5 tons in a synchronous manner.

[0039] 3. Variable assignment can flexibly generate electronic cam curves and change the path of the robot. For each thin sheet, each thin sheet has a placement position, and there is a set of position recipes for each placement position. According to what type of thin sheet the robot needs to grab, it communicates with the industrial computer through the database, assigns the specific path information in the recipe to the corresponding address of the host computer, and then the host computer writes to the corresponding cam variable of the controller. The grabbing is flexible and the grabbing motion can realize multi-complexity curve movements.

[0040] 4. At the same time, the robot runs smoothly, the maximum running speed can reach 1000mm / s, and it can quickly complete the handling within a cycle of 22s; cycle T = t1+t2+t3+t4+t5+t6+t7+t8+t9+t 10 +t 11 =22t, t1=2.6t, t2=0.4t, t3=3t, t4=3.4t, t5=0.6t, t6=3t, t7=3t, t8=2t, t9=2t, t 10 =1t,t 11 = lt, t is a variable, When the unit t=1s, the virtual axis speed is 1000mm / s and the period T is 22s.

[0041] 5. The X-axis moving beam meshes the servo motors at both ends together through electronic gears to ensure synchronization of movement. The two motors are electronically engaged with cams. This control method is to overcome the problem that the dual manipulators can have greater torque when carrying a relatively heavy sheet.

[0042] 6. The F-axis is equipped with two servo motors to realize the flipping of large workpieces and provide a large torque. At the same time, it ensures the reliability and safety of the rotating structure. The rotating structure is evenly stressed, protecting the meshing gear mechanism from damage to the meshing teeth due to uneven stress.

[0043] 7. The A-axis servo motor and reducer are installed on the fixture. The A-axis is the clamping distance adjustment axis. According to the size of the sheet, the distance of the fixture is adjusted by the roller screw to facilitate grasping, which solves the grasping problem of different workpieces, especially large workpieces and workpieces with different shapes.

[0044] In general, the present invention has the advantages of flexible manipulator, high strength, free control of travel during grasping, automatic adjustment of the path of the truss manipulator, and flexible adjustment of the electronic cam curve and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a truss dual manipulator of a CAM variable assignment method based on an electronic cam according to an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a truss dual manipulator using a CAM variable assignment method based on an electronic cam in an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of a control system of a truss dual manipulator based on a CAM variable assignment method of an electronic cam in an embodiment of the present invention;

[0048] Figure 4 It is a front view of a truss dual manipulator of a CAM variable assignment method based on an electronic cam in an embodiment of the present invention;

[0049] Figure 5 It is a left view of a truss dual manipulator using a CAM variable assignment method based on an electronic cam in an embodiment of the present invention;

[0050] Figure 6 It is a schematic diagram of the X-axis of the truss dual manipulator of the CAM variable assignment method based on the electronic cam in the embodiment of the present invention;

[0051] Figure 7 It is a schematic diagram of the Z axis of the truss dual manipulator of the CAM variable assignment method based on the electronic cam in the embodiment of the present invention;

[0052] Figure 8Schematic diagram of the R axis of the truss dual manipulator based on the CAM variable assignment method of the electronic cam in the embodiment of the present invention;

[0053] Fig. 9 It is a schematic diagram of the F axis of the truss dual manipulator of the CAM variable assignment method based on the electronic cam in the embodiment of the present invention;

[0054] Fig.10 A schematic diagram of the A-axis of the truss dual manipulator using the CAM variable assignment method based on the electronic cam in an embodiment of the present invention;

[0055] Fig.11 It is a front view of the manipulators arranged symmetrically along the A axis of the truss dual manipulator of the CAM variable assignment method based on the electronic cam in the embodiment of the present invention;

[0056] Fig.12 It is a process timing diagram of the X-axis, Y-axis, Z-axis, R-axis, F-axis and A-axis of the truss dual manipulator based on the CAM variable assignment method of the electronic cam in the embodiment of the present invention;

[0057] Fig.13 It is a Dingyi point formula diagram of the X-axis, Y-axis, Z-axis, R-axis, F-axis and A-axis of the truss dual manipulator based on the CAM variable assignment method of the electronic cam in the embodiment of the present invention;

[0058] Fig.14 It is a system program flow chart of the truss dual manipulator based on the CAM variable assignment method of the electronic cam in the embodiment of the present invention;

[0059] Fig.15 It is a main program diagram of dual manipulator synchronization of a truss dual manipulator based on the CAM variable assignment method of the electronic cam in the embodiment of the present invention;

[0060] Fig.16 A manipulator path parameter signal diagram of a truss dual manipulator based on a CAM variable assignment method of an electronic cam in an embodiment of the present invention;

[0061] In the figure: 1, truss base 2, fixed column 3, truss double manipulator suction cup 4, first arm F axis flip motor group 5, first arm F axis gear transmission structure 6, first arm R axis servo motor 7, first arm R axis rotation mechanism 8, first arm Y axis gear 9, first arm Y axis servo motor group 10, first arm X axis servo motor 11, first arm Z axis servo motor group 12, Y axis rack 13, first arm A axis servo motor 14, second arm F axis gear transmission structure 15, first arm Y axis fixed beam 16, first arm X axis moving beam 17, second arm Y axis servo motor group 18, second arm X axis servo motor 19, second arm Z axis servo motor group 20, The second arm R-axis servo motor 21, the second arm F-axis flip motor group 22, the second arm R-axis rotation mechanism 23, the second arm A-axis servo motor 24, the first arm Y-axis first servo motor 25, the first arm Y-axis second servo motor 26, the first arm Z-axis first servo motor 27, the first arm Z-axis second servo motor 28, the first arm F-axis first servo motor 29, the first arm F-axis second servo motor 30, the second arm Y-axis first servo motor 31, the second arm Y-axis second servo motor 32, the second arm Z-axis first servo motor 33, the second arm Z-axis second servo motor 34, the second arm F-axis first servo motor 35, and the second arm F-axis second servo motor. DETAILED DESCRIPTION

[0062] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other without conflict.

[0063] like Figures 12 to 15 The present invention is a CAM variable assignment method based on an electronic cam, the first step: design a set of variable points consisting of n1, n2, n3...n n The second step is to write the information of the process points of the shaft to the corresponding n1, n2, n3...n according to the time sequence from front to back. n In the variable array composed of the CAM variables in the controller, the redundant variables are filled with 0; the third step is to correspond the CAM variables in the controller with the variable addresses on the host computer, so that the host computer and the controller can achieve normal communication, and at the same time, a database for storing the process recipes of each axis is established on the host computer; the fourth step is to assign the process point values ​​to the corresponding variables through the database to realize the change of the robot path.

[0064] Fig.12 It is the process timing diagram of X-axis, Y-axis, Z-axis, R-axis, F-axis and A-axis. Fig.13 It is the process point formula diagram of X-axis, Y-axis, Z-axis, R-axis, F-axis and A-axis. Fig.14 It is the system program flow chart. Fig.15 This is the main program diagram of the dual manipulator synchronization of the truss dual manipulator using the CAM variable assignment method; Fig.12 , period T = t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8 + t9 + t 10 +t 11 =22t, t1=2.6t, t2=0.4t, t3=3t, t4=3.4t, t5=0.6t, t6=3t, t7=3t, t8=2t, t9=2t, t 10 =1t,t 11 =1t, t is a variable, When the unit t=1s, the virtual axis speed is 1000mm / s and the period T is 22.

[0065] In one embodiment of the present application, preferably, in the fifth step, for the process point adjustment required for the robot path adjustment, the second step, the third step, and the fourth step are repeated; and the purpose of flexibly processing the electronic cam curve is achieved by iteratively using the loop assignment method.

[0066] In one embodiment of the present application, preferably, in the fifth step, for the process point adjustment required for the robot path adjustment, the data of the newly added process points are reassigned in the second step; the iterative steps are omitted, the key process points are adjusted directly, and the electronic cam curve is adjusted quickly and flexibly.

[0067] like Fig.16 As shown, in one embodiment of the present application, preferably, the cam curve of each axis is established by using the assignment method through program 1, and Bytype=3 is selected in the MC_CAM_REF function block, where Bytype=3 means that the cam curve is established by using variables; the manipulator path parameter information is as follows Fig.16 As shown; Program 1 is as follows:

[0068] The X-axis cam curve table is as follows:

[0069] CAM_Group1_X(wCamStructID:=56372, byType:=3, byVarType:=6, xStart:=0, xEnd:=22.0*g_TimeBase*g_VirtualVelo, nEleme nts:=10, nTappets:=0, pce:=ADR(CAM_Group1_X_XYVA_Traj1), strCAMName:='CAM_Group1_X', xPartofLM:=TRUE);

[0070] CAM_Group1_X_XYVA_Traj1[0].dX:=0;

[0071] CAM_Group1_X_XYVA_Traj1[0].dY:=0;

[0072] CAM_Group1_X_XYVA_Traj1[0].dV:=0;

[0073] CAM_Group1_X_XYVA_Traj1[0].dA:=0;

[0074] CAM_Group1_X_XYVA_Traj1[1].dX:=1.2*g_TimeBase*g_VirtualVelo;

[0075] CAM_Group1_X_XYVA_Traj1[1].dY:=lrGroup1_X_P_Safe_PositionSet;

[0076] CAM_Group1_X_XYVA_Traj1[1].dV:=0;

[0077] CAM_Group1_X_XYVA_Traj1[1].dA:=0;

[0078] CAM_Group1_X_XYVA_Traj1[2].dX:=3.0*g_TimeBase*g_VirtualVelo;

[0079] CAM_Group1_X_XYVA_Traj1[2].dY:=lrGroup1_X_NPositionSet;

[0080] CAM_Group1_X_XYVA_Traj1[2].dV:=0;

[0081] CAM_Group1_X_XYVA_Traj1[2].dA:=0;

[0082] CAM_Group1_X_XYVA_Traj1[3].dX:=6.0*g_TimeBase*g_VirtualVelo;

[0083] CAM_Group1_X_XYVA_Traj1[3].dY:=lrGroup1_X_NPositionSet;

[0084] CAM_Group1_X_XYVA_Traj1[3].dV:=0;

[0085] CAM_Group1_X_XYVA_Traj1[3].dA:=0;

[0086] CAM_Group1_X_XYVA_Traj1[4].dX:=6.4*g_TimeBase*g_VirtualVelo;

[0087] CAM_Group1_X_XYVA_Traj1[4].dY:=lrGroup1_X_NPositionSet;

[0088] CAM_Group1_X_XYVA_Traj1[4].dV:=0;

[0089] CAM_Group1_X_XYVA_Traj1[4].dA:=0;

[0090] CAM_Group1_X_XYVA_Traj1[5].dX:=7.0*g_TimeBase*g_VirtualVelo;

[0091] CAM_Group1_X_XYVA_Traj1[5].dY:=lrGroup1_X_NPositionSet;

[0092] CAM_Group1_X_XYVA_Traj1[5].dV:=0;

[0093] CAM_Group1_X_XYVA_Traj1[5].dA:=0;

[0094] CAM_Group1_X_XYVA_Traj1[6].dX:=11.0*g_TimeBase*g_VirtualVelo;

[0095] CAM_Group1_X_XYVA_Traj1[6].dY:=lrGroup1_X_PPositionSet;

[0096] CAM_Group1_X_XYVA_Traj1[6].dV:=0;

[0097] CAM_Group1_X_XYVA_Traj1[6].dA:=0;

[0098] CAM_Group1_X_XYVA_Traj1[7].dX := 14.0 * g_TimeBase * g_VirtualVelo;

[0099] CAM_Group1_X_XYVA_Traj1[7].dY := lrGroup1_X_PPositionSet;

[0100] CAM_Group1_X_XYVA_Traj1[7].dV := 0;

[0101] CAM_Group1_X_XYVA_Trajl[7].dA := 0;

[0102] CAM_Group1_X_XYVA_Traj1[8].dX := 19.0 * g_TimeBase * g_VirtualVelo;

[0103] CAM_Group1_X_XYVA_Traj1[8].dY := lrGroup1_X_PPositionSet;

[0104] CAM_Group1_X_XYVA_Traj1[8].dV := 0;

[0105] CAM_Group1_X_XYVA_Traj1[8].dA := 0;

[0106] CAM_Group1_X_XYVA_Traj1[9].dX := 22.0 * g_TimeBase * g_VirtualVelo;

[0107] CAM_Group1_X_XYVA_Traj1[9].dY := 0;

[0108] CAM_Group1_X_XYVA_Traj1[9].dV := 0;

[0109] CAM_Group1_X_XYVA_Traj1[9].dA := 0;

[0110] The Y-axis cam curve table is as follows:

[0111] CAM_Group1_Y(wCamStructID; = 56372, byType; = 3, byVarType: = 6, xStart: = 0, xEnd: = 22.0 * g_TimeBase * g_VirtualVelo, nElements: = 6, nTappets: = 0, pce: = ADR(CAM_Group1_Y_XYVA_Traj1),

[0112] strCAMName: = ''CAM_Group1_Y&apoS;',

[0113] xPartofLM: = TRUE);

[0114] / / *Design the cam table*

[0115] CAM_Group1_Y_XYVA_Traj1[0].dX: = 0;

[0116] CAM_Group1_Y_XYVA_Traj1[0].dY: = 0;

[0117] CAM_Group1_Y_XYVA_Traj1[0].dV: = 0;

[0118] CAM_Group1_Y_XYVA_Traj1[0].dA: = 0;

[0119] CAM_Group1_Y_XYVA_Traj1[1].dX: = 2.6 * g_TimeBase * g_VirtualVelo;

[0120] CAM_Group1_Y_XYVA_Traj1[1].dY: = -lrGroup1_Y_GrabPositionSet;

[0121] CAM_Group1_Y_XYVA_Traj1[1].dV: = 0;

[0122] CAM_Group1_Y_XYVA_Traj1[1].dA: = 0;

[0123] CAM_Group1_Y_XYVA_Traj1[2].dX: = 6.0 * g_TimeBase * g_VirtualVelo;

[0124] CAM_Group1_Y_XYVA_Traj1[2].dY: = -lrGroup1_Y_GrabPositionSet;

[0125] CAM_Group1_Y_XYVA_Traj1[2].dV:=0;

[0126] CAM_Group1_Y_XYVA_Traj1[2].dA: 0;

[0127] CAM_Group1_Y_XYVA_Traj1[3].dX:=11.0*g_TimeBase*g_VirtualVelo;

[0128] CAM_Group1_Y_XYVA_Traj1[3].dY:=-lrGroup1_Y_ReleasePositionSet;

[0129] CAM_Group1_Y_XYVA_Traj1[3].dV:=0;

[0130] CAM_Group1_Y_XYVA_Traj1[3].dA: 0;

[0131] CAM_Group1_Y_XYVA_Traj1[4].dX:=19.0*g_TimeBase*g_VirtualVelo;

[0132] CAM_Group1_Y_XYVA_Traj1[4].dY:=-lrGroup1_Y_ReleasePositionSet;

[0133] CAM_Group1_Y_XYVA_Traj1[4].dV:=0;

[0134] CAM_Group1_Y_XYVA_Traj1[4].dA: 0;

[0135] CAM_Group1_Y_XYVA_Traj1[5].dX:=22.0*g_TimeBase*g_VirtualVelo;

[0136] CAM_Group1_Y_XYVA_Traj1[5].dY:=0;

[0137] CAM_Group1_Y_XYVA_Traj1[5].dV:=0;

[0138] CAM_Group1_Y_XYVA_Traj1[5].dA: 0;

[0139] The Z-axis cam curve table is as follows:

[0140] CAM_Group1_Z(wCamStructID:=56372, byType:=3, byVarType:=6, xStart:=0, xEnd:=22.0*g_TimeBase*g_VirtualVelo, nElements:=9, nTappets:=0, pce:=ADR(CAM_Group1_Z_XYVA_Traj1),

[0141] strCAMName:='CAM_Group1_Z',

[0142] xPartofLM:=TRUE);

[0143] / / *Design cam table*

[0144] CAM_Group1_Z_XYVA_Traj1[0].dX:=0;

[0145] CAM_Group1_Z_XYVA_Traj1[0].dY:=0;

[0146] CAM_Group1_Z_XYVA_Traj1[0].dV:=0;

[0147] CAM_Group1_Z_XYVA_Traj1[0].dA:=0;

[0148] CAM_Group1_Z_XYVA_Traj1[1].dX:=2.6*g_TimeBase*g_VirtualVelo;

[0149] CAM_Group1_Z_XYVA_Traj1[1].dY:=-lrGroup1_Z_GrabPositionSet;

[0150] CAM_Group1_Z_XYVA_Traj1[1].dV:=0;

[0151] CAM_Group1_Z_XYVA_Traj1[1].dA:=0;

[0152] CAM_Group1_Z_XYVA_Traj1[2].dX:=6.0*g_TimeBase*g_VirtualVelo;

[0153] CAM_Group1_Z_XYVA_Traj1[2].dY:=-lrGroup1_Z_GrabPositionSet;

[0154] CAM_Group1_Z_XYVA_Traj1[2].dV:=0;

[0155] CAM_Group1_Z_XYVA_Traj1[2].dA:=0;

[0156] CAM_Group1_Z_XYVA_Traj1[3].dX:=10.0*g_TimeBase*g_VirtualVelo;

[0157] CAM_Group1_Z_XYVA_Traj1[3].dY:=-lrGroup1_Z_SafePositionSet;

[0158] CAM_Group1_Z_XYVA_Traj1[3].dV:=0;

[0159] CAM_Group1_Z_XYVA_Traj1[3].dA:=0;

[0160] CAM_Group1_Z_XYVA_Traj1[4].dX:=11.0*g_TimeBase*g_VirtualVelo;

[0161] CAM_Group1_Z_XYVA_Traj1[4].dY:=-lrGroup1_Z_SafePositionSet;

[0162] CAM_Group1_Z_XYVA_Traj1[4].dV:=0;

[0163] CAM_Group1_Z_XYVA_Traj1[4].dA:=0;

[0164] CAM_Group1_Z_XYVA_Traj1[5].dX:=14.0*g_TimeBase*g_VirtualVelo;

[0165] CAM_Group1_Z_XYVA_Traj1[5].dY:=-lrGroup1_Z_ReleasePositionSet;

[0166] CAM_Group1_Z_XYVA_Traj1[5].dV:=0;

[0167] CAM_Group1_Z_XYVA_Traj1[5].dA := 0;

[0168] CAM_Group1_Z_XYVA_Traj1[6].dX := 19.0 * g_TimeBase * g_VirtualVelo;

[0169] CAM_Group1_Z_XYVA_Traj1[6].dY := -lrGroup1_Z_ReleasePositionSet;

[0170] CAM_Group1_Z_XYVA_Traj1[6].dV := 0;

[0171] CAM_Group1_Z_XYVA_Traj1[6].dA := 0;

[0172] CAM_Group1_Z_XYVA_Traj1[7].dX := 21.0 * g_TimeBase * g_VirtualVelo;

[0173] CAM_Group1_Z_XYVA_Traj1[7].dY := 0;

[0174] CAM_Group1_Z_XYVA_Traj1[7].dV := 0;

[0175] CAM_Group1_Z_XYVA_Traj1[7].dA := 0;

[0176] CAM_Group1_Z_XYVA_Traj1[8].dX := 22.0 * g_TimeBase * g_VirtualVelo;

[0177] CAM_Group1_Z_XYVA_Traj1[8].dY := 0;

[0178] CAM_Group1_Z_XYVA_Traj1[8].dV := 0;

[0179] CAM_Group1_Z_XYVA_Traj1[8].dA := 0;

[0180] The R-axis cam curve table is as follows:

[0181] CAM_Group1_R(wCamStructID; = 56372, byType: = 3, byVarType: = 6, xStart: = 0, xEnd: = 22.0 * g_TimeBase * g_VinualVelo, nElements: = 6, nTappets: = 0, pce: = ADR(CAM_Group1_R_XYVA_Traj1),

[0182] strCAMName: = ''CAM_Group1_R'',

[0183] xPartofLM: = TRUE);

[0184] / / * Design the cam table *

[0185] CAM_Group1_R_XYVA_Traj1[0].dX: = 0;

[0186] CAM_Group1_R_XYVA_Traj1[0].dY: = 0;

[0187] CAM_Group1_R_XYVA_Traj1[0].dV: = 0;

[0188] CAM_Group1_R_XYVA_Traj1[0].dA: = 0;

[0189] CAM_Group1_R_XYVA_Traj1[1].dX: = 10.0 * g_TimeBase * g_VirtualVelo;

[0190] CAM_Group1_R_XYVA_Traj1[1].dY: = 0;

[0191] CAM_Group1_R_XYVA_Traj1[1].dV: = 0;

[0192] CAM_Group1_R_XYVA_Traj1[1].dA: = 0;

[0193] CAM_Group1_R_XYVA_Traj1[2].dX: = 11.0 * g_TimeBase * g_VirtualVelo;

[0194] CAM_Group1_R_XYVA_Traj1[2].dY: = 0;

[0195] CAM_Group1_R_XYVA_Traj1[2].dV:=0;

[0196] CAM_Group1_R_XYVA_Traj1[2].dA:=0;

[0197] CAM_Group1_R_XYVA_Traj1[3].dX:=14.0*g_TimeBase*g_VirtualVelo;

[0198] CAM_Group1_R_XYVA_Traj1[3].dY:=lrGroup1_R_ReleasePositionSet;

[0199] CAM_Group1_R_XYVA_Traj1[3].dV:=0;

[0200] CAM_Group1_R_XYVA_Traj1[3].dA:=0;

[0201] CAM_Group1_R_XYVA_Traj1[4].dX:=19.0*g_TimeBase*g_VirtualVelo;

[0202] CAM_Group1_R_XYVA_Traj1[4].dY:=lrGroup1_R_ReleasePositionSet;

[0203] CAM_Group1_R_XYVA_Traj1[4].dV:=0;

[0204] CAM_Group1_R_XYVA_Traj1[4].dA:=0;

[0205] CAM_Group1_R_XYVA_Traj1[5].dX:=22.0*g_TimeBase*g_VirtualVelo;

[0206] CAM_Group1_R_XYVA_Traj1[5].dY:=0;

[0207] CAM_Group1_R_XYVA_Traj1[5].dV:=0;

[0208] CAM_Group1_R_XYVA_Traj1[5].dA:=0;

[0209] The F-axis cam curve table is as follows:

[0210] CAM_Group1_F(wCamStructID := 56372, byType := 3, byVarType := 6, xStart := 0, xEnd := 22.0 * GVL.g_TimeBase * GVL.g_VirtualVelo, nElements := 5, nTappets := 0, pce := ADR(CAM_Group1_F_XYVA_Traj1),

[0211] strCAMName := ''CAM_Group1_F'S;,

[0212] xPartofLM := TRUE);

[0213] / / *Design the cam table*

[0214] CAM_Group1_F_XYVA_Traj1[0].dX := 0;

[0215] CAM_Group1_F_XYVA_Traj1[0].dY := 0;

[0216] CAM_Group1_F_XYVA_Traj1[0].dV := 0;

[0217] CAM_Group1_F_XYVA_Traj1[0].dA := 0;

[0218] CAM_Group1_F_XYVA_Traj1[1].dX := 2.6 * GVL.g_TimeBase * GVL.g_VirtualVelo;

[0219] CAM_Group1_F_XYVA_Traj1[1].dY := GVL_Group1_F1_Lexium32S_Sercos.lrGroup1_F_GrabPositionSet;

[0220] CAM_Group1_F_XYVA_Traj1[1].dV := 0;

[0221] CAM_Group1_F_XYVA_Traj1[1].dA := 0;

[0222] CAM_Group1_F_XYVA_Traj1[2].dX := 7.0 * GVL.g_TimeBase * GVL.g_VirtualVelo;

[0223] CAM_Group1_F_XYVA_Traj1[2].dY:=GVL_Group1_F1_Lexium32S_Sercos.lrGroup1_F_GrabPositionSet;

[0224] CAM_Group1_F_XYVA_Traj1[2].dV:=0;

[0225] CAM_Group1_F_XYVA_Traj1[2].dA:=0;

[0226] CAM_Group1_F_XYVA_Traj1[3].dX:=11.0*GVL.g_TimeBase*GVL.g_VirtualVelo;

[0227] CAM_Group1_F_XYVA_Traj1[3].dY:=0;

[0228] CAM_Group1_F_XYVA_Traj1[3].dV:=0;

[0229] CAM_Group1_F_XYVA_Traj1[3].dA:=0;

[0230] CAM_Group1_F_XYVA_Traj1[4].dX:=22.0*GVL.g_TimeBase*GVL.g_VirtualVelo;

[0231] CAM_Group1_F_XYVA_Traj1[4].dY:=0;

[0232] CAM_Group1_F_XYVA_Traj1[4].dV:=0;

[0233] CAM_Group1_F_XYVA_Traj1[4].dA:=0;

[0234] In one embodiment of the present application, preferably, the variables in the controller can be further matched with corresponding points of the host computer, and the variables can be assigned values ​​by the host computer.

[0235] like Figure 1-10The truss dual manipulator of the CAM variable assignment method based on electronic cam is shown as follows: it includes a control system, which includes an IPC300 Advantech industrial computer, an LMC078 motion controller, an LXM32S servo driver, a BMH servo motor and an absolute encoder which are all encapsulated inside the servo motor, and is connected to the controller through the industrial computer for communication, the controller and the driver are connected to a ring network through the SERCOS bus, and the driver and the encoder are connected to control the movement of the motor; the controller signal input / output port is connected to the driver through the SERCOS bus to complete the transmission of the control command, the servo driver is connected to the absolute encoder through the encoder connector to realize encoder control communication, and the absolute encoder is connected to the servo motor to realize the feedback of the motor movement state.

[0236] In one embodiment of the present application, preferably, the absolute encoder has a power-off memory function, which can realize a shutdown memory function, facilitate the repeated operation of the next process, maintain the continuity of production, and avoid duplication of work.

[0237] like Figure 3 As shown, D1-D9 represents Figure 1 The servo motor of the first arm robot, D1 represents the X-axis servo motor, D2 and D3 represent the Y-axis servo motor installed, D4 and D5 represent the Z-axis servo motor, D6 represents the R-axis servo motor, D7 and D8 represent the F-axis servo motor, D9 represents the A-axis servo motor; D10-D18 represent Figure 1 The servo motor of the second arm robot inside, D10 represents the X-axis servo motor, D11 and D12 represent the Y-axis servo motor, D13 and D14 represent the Z-axis servo motor, D15 represents the R-axis servo motor, D16 and D17 represent the F-axis servo motor, and D18 represents the A-axis servo motor.

[0238] In one embodiment of the present application, preferably, a truss dual manipulator based on the CAM variable assignment method of the electronic cam includes two single arms, a Y-axis fixed beam, an X-axis moving beam, a connecting plate, a Z-axis moving column, an R-axis rotation mechanism, and an F-axis flipping mechanism. Each single arm has 6 axes, and a servo motor is installed on each axis. The rack is installed on the Y-axis fixed beam of the truss dual manipulator, and the servo motor and the X-axis moving beam are fixed together through the connecting plate. The movement of the Y-axis is achieved by the X-axis moving beam, and the servo motor, reducer, and gear of the Y-axis are installed on the moving X-axis moving beam; the servo motor and reducer of the X-axis are installed on the X-axis connecting plate, and the X-axis connecting plate is relatively The reciprocating motion of the X-axis moving beam is achieved through the cooperation between the servo motor, reducer, gear and rack; the Z-axis uses two motors meshed together through electronic gears, and the Z-axis servo motor realizes the up and down motion of the Z-axis moving column through the cooperation of the reducer, gear and rack. The servo motor and reducer of the R-axis are installed at the lower end of the Z-axis moving column, and the feeding of the R-axis is achieved through the transmission of gears. The suction cup connecting plate and the driven gear are fixed together, and the main gear drives the driven gear to rotate; the servo motor and reducer of the F-axis are both installed at the lower end of the R-axis rotating mechanism. The F-axis controls the flipping of the suction cup fixture, and the flipping is achieved through the transmission of gears.

[0239] In one embodiment of the present application, preferably, both ends of the F-axis are connected to servo motors, and the two servo motors of the F-axis are engaged in a straight line through electronic gears. At the same time, the output ends of the servo motors are connected to two sets of diameter wheel transmission mechanisms to realize the flipping action.

[0240] In one embodiment of the present application, preferably, the truss dual manipulator further includes a truss base 1, a fixed column 2, a truss dual manipulator suction cup 3, a first arm F-axis flip motor group 4, a first arm F-axis gear transmission structure 5, a first arm R-axis servo motor 6, a first arm R-axis rotation mechanism 7, a first arm Y-axis gear 8, a first arm Y-axis servo motor group 9, a first arm X-axis servo motor 10, a first arm Z-axis servo motor group 11, a Y-axis rack 12, a first arm A-axis servo motor 13, a second arm F-axis gear transmission structure 14, a first arm Y-axis fixed beam 15, a first arm X-axis movable beam 16, a second arm Y-axis servo motor group 17, a second arm X-axis servo motor 18, and a second arm Z-axis servo motor group 19 , the second arm R-axis servo motor 20, the second arm F-axis flip motor group 21, the second arm R-axis rotation mechanism 22, the second arm A-axis servo motor 23; the second arm Y-axis servo motor group 17 is composed of the second arm Y-axis first servo motor 30, the second arm Y-axis second servo motor 31, the first arm Y-axis servo motor group 9 is composed of the first arm Y-axis first servo motor 24, the first arm Y-axis second servo motor 25, the first arm Z-axis servo motor group 11 is composed of the first arm Z-axis first servo motor 26, the first arm Z-axis second servo motor 27, the second arm Z-axis servo motor group 19 is composed of the second arm Z-axis first servo motor 32, the second arm Z-axis second servo motor 33; The first arm F-axis flip motor group 4 is composed of the first arm F-axis first servo motor 28 and the first arm F-axis second servo motor 29, and the second arm F-axis flip motor group 21 is composed of the second arm F-axis first servo motor 34 and the second arm F-axis second servo motor 35; U-shaped components are arranged on both sides of the truss dual manipulator suction cup 3, and a fixed shaft is fixedly arranged on the U-shaped component, and the fixed shaft and the F-axis servo motor form a meshing transmission mechanism through a gear transmission mechanism; the X-axis moving beam includes the first arm X-axis moving beam 16 and the second arm X-axis moving beam, and the Z-axis moving column includes the first arm Z-axis moving column and the second arm Z-axis moving column; the first arm X-axis moving beam 1 6 and the second arm X-axis moving beam straddle the Y-axis fixed beam, the two ends of the first arm X-axis moving beam 16 are respectively formed into a meshing walking mechanism through the first arm Y-axis first servo motor 24, the first arm Y-axis second servo motor 25 and the Y-axis rack 12 of the Y-axis fixed beam, and the two ends of the second arm X-axis moving beam are respectively formed into a meshing walking mechanism through the second arm Y-axis first servo motor 30, the second arm Y-axis second servo motor 31 and the Y-axis rack 12 of the Y-axis fixed beam; the first arm X-axis servo motor 10 forms a walking mechanism through the X-axis rack on the first arm X-axis moving beam 16, and the second arm X-axis servo motor 18 forms a walking mechanism through the X-axis rack on the second arm X-axis moving beam;The first arm Z axis moving column forms a walking mechanism through the Z axis rack and the first arm Z axis first servo motor 26, the first arm Z axis second servo motor 27, and the second arm Z axis moving column forms a walking mechanism through the Z axis rack and the second arm Z axis first servo motor 32, the second arm Z axis second servo motor 33.

[0241] In one embodiment of the present application, preferably, an A-axis servo motor and a reducer are installed on the clamp, and the first arm A-axis servo motor 13 adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp, and the second arm A-axis servo motor 23 adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp; the A-axis is a clamping distance adjustment axis, and the clamp spacing is adjusted by a roller screw according to the size of the slice to facilitate grasping; according to what type of slice the manipulator needs to grasp, the database and the industrial computer are communicated, and the specific path information in the recipe is assigned to the corresponding address of the host computer, and then the host computer writes it to the corresponding cam variable of the controller.

[0242] In one embodiment of the present application, preferably, the X-axis moving beam meshes the Y-axis servo motors at both ends together through electronic gears to ensure movement synchronization.

[0243] like Fig.11 As shown, in one embodiment of the present application, preferably, each robot arm of the truss dual robot is arranged side by side or symmetrically, and only the setting procedure needs to be adjusted. The symmetrical arrangement can increase the adjustable movable spacing between the robot arms.

[0244] In one embodiment of the present application, preferably, the output shaft of the first arm X-axis servo motor is connected to the spline shaft through a reducer, the spline shaft is connected to the gear, and the gear is meshed with the rack.

[0245] In one embodiment of the present application, preferably, an X-axis servo motor and a reducer are installed on the X-axis connecting plate, and the reciprocating motion of the X-axis connecting plate relative to the X-axis moving beam is achieved through the mutual cooperation between the servo motor, the reducer, the gear and the rack.

[0246] In one embodiment of the present application, preferably, the Z-axis driving component is also assembled on the X-axis connecting plate. Since the truss dual manipulator has a large load, the Z-axis uses two motors that are meshed together through electronic gears. The Z-axis servo motor realizes the up and down movement of the Z-axis moving column through the cooperation of a reducer, gears and racks.

[0247] In one embodiment of the present application, preferably, the servo motor and reducer of the R-axis are installed at the lower end of the Z-axis moving column, the feeding of the axis is achieved through gear transmission, the suction cup connecting plate and the driven gear are fixed together, the main gear drives the driven gear to rotate, and the R-axis rotates at a maximum of 300 degrees.

[0248] In one embodiment of the present application, preferably, the two servo motors and the reducer of the F-axis are installed at the lower end of the R-axis rotation mechanism. The F-axis controls the flipping of the suction cup clamp, and the flipping is achieved through gear transmission. The two servo motors use electronic gears to ensure that they are meshed in a straight line. At the same time, the motor output end is connected to two sets of diameter wheel transmission mechanisms to achieve the flipping action.

[0249] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A CAM variable assignment method based on electronic cam, using a truss dual manipulator, characterized in that: The first step is to design a set of variable points consisting of n1, n2, n3...n n composition; The second step is to use variables to represent the position points at the corresponding time nodes to obtain the key points of the electronic cam; according to the process points of the axis, the information of the process points of the axis is written to the corresponding n1, n2, n3...n in chronological order. n In the variable array composed of , the redundant variables are filled with 0; The third step is to match the CAM variables in the controller with the variable addresses on the host computer to achieve normal communication between the host computer and the controller, and at the same time, establish a database on the host computer to store the process recipes of each axis; The fourth step is to assign the process point values ​​to the corresponding variables through the database, and change the trajectory corresponding to the servo motor output by assigning values ​​to the variables. After the assignment, the key points are interpolated by a quintic polynomial to obtain an electronic cam curve that meets the process requirements, so as to change the robot path and make the servo motor output different actions. Step 5: Repeat steps 2, 3 and 4 for the process point adjustment required for the robot path adjustment. For the process point adjustment required for the robot path adjustment, re-assign the data of the newly added process point in step 2 to obtain a new electronic cam curve that meets the process requirements. When the process needs to be changed, attach the corresponding value to the corresponding variable to achieve the corresponding position of the robot. The truss dual manipulator includes two single arms, a Y-axis fixed beam, an X-axis moving beam, a connecting plate, a Z-axis moving column, an R-axis rotating mechanism, and an F-axis flipping mechanism. Each single arm has 6 axes, each axis is equipped with a servo motor, and a rack is installed on the Y-axis fixed beam of the truss dual manipulator. The servo motor and the X-axis moving beam are fixed together through a connecting plate. The movement of the Y-axis is realized by the X-axis moving beam. The servo motor, reducer, and gear of the Y-axis are installed on the moving X-axis moving beam; the servo motor and reducer of the X-axis are installed on the X-axis connecting plate, and the reciprocating motion of the X-axis connecting plate relative to the X-axis moving beam is realized by the mutual cooperation between the servo motor, reducer, gear and rack; the Z-axis uses two motors meshed together through electronic gears, and the Z-axis servo motor realizes the up and down movement of the Z-axis moving column through the cooperation of the reducer, gear and rack; The servo motor and reducer of the R axis are installed at the lower end of the Z axis moving column. The feeding of the R axis is realized through the transmission of gears. The suction cup connecting plate and the driven gear are fixed together, and the main gear drives the driven gear to rotate; The servo motor and reducer of the F-axis are installed at the lower end of the R-axis rotating mechanism. The F-axis controls the flipping of the suction cup fixture, which is achieved through gear transmission; The X-axis moving beam meshes the Y-axis servo motors at both ends together through electronic gears to ensure synchronization of movement; Each robot arm of the truss dual robot is arranged side by side or symmetrically.

2. The CAM variable assignment method based on electronic cam according to claim 1, characterized in that: The truss dual manipulator includes a control system, which includes an IPC300 Advantech industrial computer, an LMC078 motion controller, an LXM32S servo driver, a BMH servo motor and an absolute encoder which are all encapsulated inside the servo motor. The industrial computer and the controller are connected for communication, the controller and the driver are connected for ring network through the SERCOS bus, and the driver and the encoder are connected to control the movement of the motor. The controller signal input / output port is connected to the driver through the SERCOS bus to complete the transmission of control commands. The servo driver is connected to the absolute encoder through the encoder connector to realize encoder control communication. The absolute encoder is connected to the servo motor to realize the feedback of the motor movement state. The absolute encoder has a power-off memory function.

3. The CAM variable assignment method based on electronic cam according to claim 2, characterized in that: Both ends of the F-axis are connected to servo motors. The two servo motors of the F-axis are meshed in a straight line through electronic gears. At the same time, the output ends of the servo motors are connected to two sets of diameter wheel transmission mechanisms to achieve flipping action.

4. The CAM variable assignment method based on electronic cam according to claim 3 is characterized in that: The truss dual manipulator also includes a truss base (1), a fixed column (2), a truss dual manipulator suction cup (3), a first arm F axis flip motor group (4), a first arm F axis gear transmission structure (5), a first arm R axis servo motor (6), a first arm R axis rotation mechanism (7), a first arm Y axis gear (8), a first arm Y axis servo motor group (9), a first arm X axis servo motor (10), a first arm Z axis servo motor group (11), a Y axis rack (12), a first arm Y axis gear (13), a first arm Y axis gear (14), a first arm Y axis gear (15), a first arm Y axis gear (16), a first arm Y axis gear (17), a first arm Y axis gear (18), a first arm Y axis gear (19), a first arm X axis gear (20), a first arm Z axis gear (21), a first arm Y axis gear (22), a first arm Y axis gear (23), a first arm Y axis gear (24), a first arm Y axis gear (25), a first arm Y axis gear (26), a first arm Y axis gear (27), a first arm A-axis servo motor of arm No. 1 (13), gear transmission structure of arm No. 2 (14), Y-axis fixed beam of arm No. 1 (15), X-axis movable beam of arm No. 1 (16), Y-axis servo motor group of arm No. 2 (17), X-axis servo motor of arm No. 2 (18), Z-axis servo motor group of arm No. 2 (19), R-axis servo motor of arm No. 2 (20), F-axis flipping motor group of arm No. 2 (21), R-axis rotating mechanism of arm No. 2 (22), A-axis servo motor of arm No. 2 (23), 3); the second arm Y-axis servo motor group (17) is composed of the second arm Y-axis first servo motor (30) and the second arm Y-axis second servo motor (31); the first arm Y-axis servo motor group (9) is composed of the first arm Y-axis first servo motor (24) and the first arm Y-axis second servo motor (25); the first arm Z-axis servo motor group (11) is composed of the first arm Z-axis first servo motor (26) and the first arm Z-axis second servo motor (27); the second arm Z-axis servo motor group (19) is composed of the second arm Z-axis first servo motor (32) and the second arm Z-axis second servo motor (33); the first arm F-axis flip motor group (4) is composed of the first arm F-axis first servo motor (28) and the first arm F-axis second servo motor (29); the second arm F-axis flip motor group (21) is composed of the second arm F-axis first servo motor (34) and the second arm F-axis second servo motor (35); The truss dual manipulator suction cup (3) is provided with U-shaped components on both sides, and a fixed shaft is fixedly provided on the U-shaped component. The fixed shaft and the servo motor of the F-axis form a meshing transmission mechanism through a gear transmission mechanism; The X-axis movable crossbeam comprises a first arm X-axis movable crossbeam (16) and a second arm X-axis movable crossbeam, and the Z-axis movable column comprises a first arm Z-axis movable column and a second arm Z-axis movable column; The first arm X-axis moving beam (16) and the second arm X-axis moving beam are straddled on the Y-axis fixed beam, and the two ends of the first arm X-axis moving beam (16) are respectively connected to the first arm Y-axis first servo motor (24), the first arm Y-axis second servo motor (25) and the Y-axis rack (12) of the Y-axis fixed beam to form a meshing walking mechanism, and the two ends of the second arm X-axis moving beam are respectively connected to the second arm Y-axis first servo motor (30), the second arm Y-axis second servo motor (31) and the Y-axis rack (12) of the Y-axis fixed beam to form a meshing walking mechanism; The first arm X-axis servo motor (10) forms a walking mechanism through the X-axis rack on the first arm X-axis moving crossbeam (16), and the second arm X-axis servo motor (18) forms a walking mechanism through the X-axis rack on the second arm X-axis moving crossbeam; The first arm Z-axis moving column forms a walking mechanism through a Z-axis rack and a first arm Z-axis first servo motor (26) and a first arm Z-axis second servo motor (27), and the second arm Z-axis moving column forms a walking mechanism through a Z-axis rack and a second arm Z-axis first servo motor (32) and a second arm Z-axis second servo motor (33).

5. The CAM variable assignment method based on electronic cam according to claim 4 is characterized in that: The clamp is equipped with an A-axis servo motor and a reducer. The first arm A-axis servo motor (13) adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp. The second arm A-axis servo motor (23) adjusts the clamp position through a roller screw to adjust the clamp spacing of the clamp.

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