A six-axis robot automatic assembly simulation system

Abstract

The present invention discloses a six-axis robot automatic assembly simulation system, which relates to the field of six-axis robot automatic assembly simulation, including an initial module, a mobile module, a working module, a PLC controller, six servo motors, and a transmission of a mechanical structure. The initial module performs initial settings on the machine and performs the next operation. The mobile module controls the machine to extend and contract, and the working module controls the machine to move to complete the movement of the product. The system of the present invention timely controls the working state of the upper arm and the lower arm to avoid that when the upper arm and the lower arm are stretched into a straight line, the upper arm and the lower arm are easily damaged because the structural rigidity of the robot is relatively low, affecting the normal use function. The coupling angle compensation relation is used to solve the coupling ratio problem of the six-axis industrial robot during the movement process, and the robot's joint coupling is prevented from transmitting its transmission difference to the robot's terminal shaft, forming a certain angle error, resulting in inaccurate control accuracy during the movement process.

Description

Technical Field

[0001] The invention relates to the field of six-axis robot automatic assembly simulation, and in particular to a six-axis robot automatic assembly simulation system. Background Art

[0002] my country is moving from a manufacturing power to a manufacturing powerhouse, and competition in the manufacturing industry will become increasingly fierce. Improving product quality and production efficiency will be one of the key factors for companies to win in the fierce competition. The extensive use of cost-effective robots will reduce manpower and lower production costs while improving product quality and production efficiency. Overall, with the transformation of the growth model of my country's manufacturing enterprises, the continuous increase in labor costs and the transformation of production automation, the market prospects for robots are very broad and will be an inevitable trend in the development of my country's manufacturing industry.

[0003] The traditional design method of robots adopts a serial and iterative process. Its main steps include task analysis, technical research, program review, calculation and selection, sketching, sketch review, mechanical design, drawing review, prototype trial production, inspection and other ten stages. When traditional machinery works, the axis of the elbow joint and the shoulder joint are parallel. When the upper and lower arms are stretched into a straight line, although it can reach a very far working point, the structural rigidity of the robot is relatively low, and it is easy for the upper and lower arms to be damaged, affecting the normal use function.

[0004] SUMMARY OF THE INVENTION

[0005] The purpose of the present invention is to provide a six-axis robot automatic assembly simulation system to solve the problem that the traditional design method of the robot proposed in the above background technology adopts a serial and repetitive process, and its main steps include task analysis, technical investigation, program review, calculation and selection, sketching, sketch review, mechanical design, drawing review, prototype trial production, inspection and other ten stages. When the traditional machine is working, the axis of the elbow joint and the shoulder joint are parallel. When the upper and lower arms are stretched into a straight line, although it can reach a very far working point, the structural rigidity of the robot is relatively low, and it is easy to damage the upper and lower arms and affect the normal use function.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a six-axis robot automatic assembly simulation system, including an initial module, a moving module, a working module, a PLC controller, six servo motors, and a mechanical structure transmission. The initial module performs initial settings on the machine and performs the next step of operation. The moving module controls the machine to extend and retract. The working module controls the machine to move, completes the movement of the product, and performs structural control.

[0007] Preferably, the PLC controller first controls the control data in the initial module to initialize the equipment before work, and then the PLC controller moves the machine to the working area to work through the control data. The mobile module receives the control data of the PLC controller, and imports the control data into the upper arm, lower arm and clamping head in the mobile module to work. After the upper arm, lower arm and clamping head work, whether the machine meets the judgment conditions is determined by whether the clamping head clamps the product. When the machine does not meet the judgment conditions, whether the clamping head clamps the product is determined and the data is transmitted to the clamping head controlled by the PLC controller to open, and the clamping head is lifted to re-clamp the product, and the data is imported into the initial state of the mobile module to work again.

[0008] Preferably, the working module performs the final work on the product, and the working module receives the control data transmitted by the PLC controller in the moving module. The working module imports the control data into the machine to control the clamping head to close and move to the designated point. When the machine extends the robotic arm, the control data will be judged by sensing whether each robotic arm is opened to the maximum distance, and the control data that does not meet the requirements will be imported into the control command for the upper and lower arms to retract. The upper and lower arms will retract the data through the PLC controller to control the upper and lower arms to retract. After the upper and lower arms are retracted, they will be imported into the next working program together with the control data that meets the requirements of sensing whether each robotic arm is opened to the maximum distance. After the product is put down, the PLC controller controls the data to open the clamping head and put down the product. After the product is put down, the PLC controller controls the machine to move to the side of the equipment to find the product, and then continue to repeat the work.

[0009] Preferably, the PLC controller loads control instructions into memory for storage and execution at any time. The programmable controller is composed of functional units such as CPU, instruction and data memory, input / output interface, power supply, digital analog conversion, etc. The PLC controller has the function of logic control and is named as a programmable logic controller. The computer module in the PLC controller already has various functions such as logic control, timing control, analog control, and multi-machine communication. The PLC controller used in this system is the latest FX2N-48MR-001.

[0010] Preferably, the six private service motors are all CoolDriveA8 series, and the six private service motors integrate EtherCAT bus communication, common DC bus, energy efficiency management, and functional safety technology. At the same time, they are equipped with high-precision absolute encoders and dedicated debugging software Drive Starter.

[0011] Preferably, the transmission of the mechanical structure is the mechanical structure of a six-axis industrial robot, and the motors of the fourth, fifth and sixth axes are all installed at one end of the fourth axis. Therefore, the rotation of the fourth axis will affect the movement of the fifth and sixth axes, causing the five and six axes to produce a coupling difference angle, and the movement of the five axis will alone cause the six axis to produce a coupling difference angle. The coupling difference angle of the six axis is the sum of the coupling difference angles caused by the rotation of the four and five axes. The fifth and sixth joints of the robot are decoupled and compensated, the size of the coupling difference angle between the joints is calculated, and then the motor is driven to compensate for it to offset the influence of the joint coupling on the movement of other axes.

[0012] Preferably, the decoupling compensation can be obtained by

[0013] θ5=θ'+(θ4-θ4') / 68

[0014] θ6=θ'6+(θ4-θ'4) / 61+(θ5-θ'5) / 61

[0015] Among them, θ'4, θ'5, and θ'6 respectively represent the angle values ​​that should be sent to the four-axis, five-axis, and six-axis joint drives before coupling angle compensation, and θ4, θ5, and θ6 respectively represent the angle values ​​sent to the four-axis, five-axis, and six-axis joint drives after coupling angle compensation.

[0016] The technical effects and advantages of the present invention are as follows: the system timely controls the working status of the upper arm and the lower arm to avoid that when the upper arm and the lower arm are stretched into a straight line, the upper arm and the lower arm are easily damaged, affecting the normal use function because the structural stiffness of the robot is relatively low. The coupling angle compensation relationship is used to solve the coupling ratio problem of the six-axis industrial robot during the movement process, and the joint coupling of the robot is prevented from transmitting its transmission difference to the terminal shaft of the robot, forming a certain angle error, resulting in inaccurate control accuracy during the movement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall module process structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the initial module structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the structure of the mobile module of the present invention.

[0020] Figure 4 It is a schematic diagram of the working module structure of the present invention.

[0021] Figure 5 It is a schematic diagram of the overall workflow structure of the present invention.

[0022] Figure 6 It is a schematic diagram of the coupling ratio structure of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Specific embodiment one:

[0025] like Figure 1 As shown, it includes an initial module, a moving module, a working module, a PLC controller, six servo motors, and a transmission of a mechanical structure. The initial module performs initial settings on the machine and performs the next operation. The moving module controls the machine to extend and retract. The working module controls the machine to move, completes the movement of the product, and performs structural control. The PLC controller first controls the control data in the initial module to initialize the equipment before work. Then, the PLC controller moves the machine to the working area to work through the control data. The moving module receives the control data of the PLC controller and imports the control data into the upper arm, lower arm, and clamping head in the moving module to work. After the upper arm, lower arm, and clamping head work, whether the clamping head clamps the product determines whether the machine meets the determination conditions. When the machine does not meet the determination conditions, whether the clamping head clamps the product determines whether the data is transmitted to the clamping head controlled by the PLC controller to open, and the clamping head is lifted to re-clamp the product, and the data is imported into the initial state of the moving module. Rework, the working module will perform the final work on the product, the working module accepts the control data transmitted by the PLC controller in the mobile module, the working module imports the control data into the machine, controls the clamping head to close and move to the specified point, when the machine extends the robotic arm, the control data will be judged by sensing whether each robotic arm is opened to the maximum distance, and the control data that does not meet the requirements will be imported into the control command for the arm and the forearm to shrink. The arm and the forearm will shrink and the data will be controlled by the PLC controller to shrink the arm and the forearm. After the arm and the forearm are retracted, they will be imported into the next work program together with the control data that meets the requirements of sensing whether each robotic arm is opened to the maximum distance. The PLC controller controls the data to open the clamping head and put down the product. After putting down the product, the PLC controller controls the machine to move to the side of the equipment to find the product, and then continue to repeat the work. The system controls the working status of the arm and the forearm in time to avoid stretching the arm and the forearm into a straight line. Because the structural stiffness of the robot is relatively low, it is easy to damage the arm and the forearm and affect the normal use function. Specific embodiment 2:

[0027] like Figure 2As shown, the PLC controller loads the control instructions into the memory at any time for storage and execution. The programmable controller is composed of CPU, instruction and data memory, input / output interface, power supply, digital analog conversion and other functional units. The PLC controller has the function of logic control and is named as programmable logic controller. The computer module in the PLC controller has various functions such as logic control, timing control, analog control and multi-machine communication. The PLC controller used in this system is the latest FX2N-48MR-001. The six private service motors are all CoolDriveA8 series. The six private service motors integrate Ether CAT bus communication, common DC bus, energy efficiency management, functional safety technology, and it is equipped with a high-precision absolute encoder and dedicated debugging software DriveStarter. The transmission of the mechanical structure is a six-axis industrial robot. The motors of the fourth, fifth, and sixth axes are all installed at one end of the fourth axis. Therefore, the rotation of the fourth axis will affect the movement of the fifth and sixth axes, causing the fifth and sixth axes to produce a coupling difference angle. The movement of the five-axis will cause the six-axis to produce a coupling difference angle alone. The coupling difference angle of the six-axis is the sum of the coupling difference angles caused by the rotation of the four-axis and the five-axis. The robot's five and six joints are decoupled and compensated, and the size of the coupling difference angle between the joints is calculated. Then the drive motor is used to compensate for it to offset the influence of the joint coupling on the movement of other axes. The decoupling compensation can be calculated.

[0028] θ5=θ'+(θ4-θ4') / 68

[0029] θ6=θ'6+(θ4-θ'4) / 61+(θ5-θ'5) / 61

[0030] Among them, θ'4, θ'5, and θ'6 represent the angle values ​​that should be sent to the four-axis, five-axis, and six-axis joint drives before coupling angle compensation, respectively; θ4, θ5, and θ6 represent the angle values ​​sent to the four-axis, five-axis, and six-axis joint drives after coupling angle compensation, respectively. The coupling angle compensation relationship is used to solve the coupling ratio problem of the six-axis industrial robot during movement, avoiding the robot's joint coupling from transmitting its transmission difference to the robot's terminal axis, forming a certain angle error, and causing inaccurate control accuracy during movement.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-axis robot automatic assembly simulation system, including an initial module, a mobile module, a working module, a PLC controller, six servo motors, and a mechanical structure transmission, characterized in that: The initial module performs initial settings on the machine and performs the next operation. The moving module controls the machine to extend and retract. The working module controls the machine to move, completes the movement of the product, and performs structural control. The PLC controller first controls the control data in the initial module to initialize the equipment before working, and then the PLC controller moves the machine to the working area through the control data to work. The mobile module receives the control data of the PLC controller, and imports the control data into the upper arm, lower arm and clamping head in the mobile module to work. After the upper arm, lower arm and clamping head work, whether the machine meets the judgment condition is determined by whether the clamping head clamps the product. When the machine does not meet the judgment condition, whether the clamping head clamps the product is determined by whether the data is transmitted to the clamping head controlled by the PLC controller to open, and the clamping head is lifted to re-clamp the product, and the data is imported into the initial state of the mobile module to work again; The working module performs the final work on the product. The working module receives the control data transmitted by the PLC controller in the moving module. The working module imports the control data into the machine to control the clamping head to close and move to the specified point. When the machine extends the mechanical arm, the control data will be judged by sensing whether each mechanical arm is opened to the maximum distance, and the control data that does not meet the requirements will be imported into the control command for the upper arm and the lower arm to shrink. The upper arm and the lower arm shrink and control the data through the PLC controller to shrink the upper arm and the lower arm. After the upper arm and the lower arm are shrunk, they will be imported into the next working program together with the control data that meets the requirements of sensing whether each mechanical arm is opened to the maximum distance. The PLC controller controls the data to open the clamping head and put down the product. After putting down the product, the PLC controller controls the machine to move to the side of the equipment to find the product, and then continue to repeat the work; The PLC controller loads the control instructions into the memory at any time for storage and execution. The programmable controller is composed of CPU, instruction and data memory, input / output interface, power supply, and digital analog conversion unit. The PLC controller has the function of logic control and is named as programmable logic controller. The computer module in the PLC controller has various functions such as logic control, timing control, analog control, and multi-machine communication. The PLC controller used in this system is the latest FX2N-48MR-001; The six private service motors are all CoolDriveA8 series, which integrate EtherCAT bus communication, common DC bus, energy efficiency management, and functional safety technology. They are also equipped with high-precision absolute encoders and dedicated debugging software Drive Starter. The system controls the working status of the upper and lower arms in time to prevent the upper and lower arms from stretching into a straight line.

2. A six-axis robot automatic assembly simulation system according to claim 1, characterized in that: The transmission of the mechanical structure is a mechanical structure of a six-axis industrial robot, in which the motors of the fourth, fifth and sixth axes are all installed at one end of the fourth axis. Therefore, the rotation of the fourth axis will affect the movement of the fifth and sixth axes, causing the fifth and sixth axes to produce a coupling difference angle. The movement of the five-axis will alone cause the six-axis to produce a coupling difference angle. The coupling difference angle of the six-axis is the sum of the coupling difference angles caused by the rotation of the four-axis and the five-axis. The fifth and sixth joints of the robot are decoupled and compensated, the size of the coupling difference angle between the joints is calculated, and then the motor is driven to compensate for it to offset the influence of the joint coupling on the movement of other axes.

3. A six-axis robot automatic assembly simulation system according to claim 2, characterized in that: The decoupling compensation can be obtained by ； Among them, θ'4, θ'5, and θ'6 respectively represent the angle values ​​that should be sent to the four-axis, five-axis, and six-axis joint drives before coupling angle compensation, and θ4, θ5, and θ6 respectively represent the angle values ​​sent to the four-axis, five-axis, and six-axis joint drives after coupling angle compensation.

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