Additional shaft, conveyance device, and method for controlling conveyance device

Abstract

The invention relates to the technical field of automation, and discloses an additional shaft, a carrying device and a control method of the carrying device. The driving mechanism is arranged at the edge of one side of the bearing part; the first connecting piece is used for being connected with the robot, and the second connecting piece is used for being connected with the obtaining mechanism; and the transmission mechanism is connected to the driving mechanism and can drive the first connecting piece and the second connecting piece to reversely move relative to the bearing piece under the action of the driving mechanism. In the process of taking and placing the workpiece through the additional shaft, the tail end of the robot does not need to stretch into a narrow working space, the robot does not need to change postures in the narrow space, and the situation that the tail end of the robot moves and collides with surrounding instruments is avoided.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an additional axis, a handling device and a control method for the handling device. Background Art

[0002] With the continuous improvement of industrialization, handling robots are needed to replace manual operations in many operating environments.

[0003] In the related art, some handling devices include a handling robot and an additional shaft connected to the end of the handling robot. However, the end of the robot is relatively large, and after the additional shaft is connected, it is easy to be unable to be applied to a narrow scene and easily collide with surrounding equipment. Summary of the invention

[0004] In view of this, the present invention provides an additional shaft, a transport device and a control method for the transport device to solve the problem in the related art that the transport device is prone to collision with surrounding equipment, and can be applied to relatively narrow scenarios.

[0005] In a first aspect, the present invention provides an additional shaft, comprising:

[0006] bearing member;

[0007] A driving mechanism is arranged at one side edge of the bearing member;

[0008] a first connecting member and a second connecting member, the first connecting member is used to connect to the robot, and the second connecting member is used to connect to the acquisition mechanism;

[0009] The transmission mechanism is connected to the driving mechanism and can drive the first connecting member and the second connecting member to move in opposite directions relative to the bearing member under the action of the driving mechanism.

[0010] Beneficial effects:

[0011] During use of the additional axis of the present invention, the support itself occupies a small space and can be easily inserted into a relatively narrow space such as a stamping device. At the same time, the acquisition mechanism can move along the length direction of the support under the action of the driving mechanism and the transmission mechanism, so as to flexibly perform the operation of picking up and placing the workpiece, ensuring that in the process of picking up and placing the workpiece, the end of the robot does not need to be extended into a narrow working space, and the robot does not need to change its posture in a narrow space, thereby avoiding the movement of the end of the robot and causing collision with surrounding equipment.

[0012] On this basis, the driving mechanism is arranged at one side edge of the carrier, thereby ensuring that the setting of the driving mechanism will not increase the size of the additional axis along the thickness direction of the carrier, thereby further reducing the risk of collision between the additional axis and surrounding equipment, and helping to improve the flexibility of the transport device.

[0013] Furthermore, because the additional axis of the embodiment of the present invention can move in opposite directions relative to the carrier during use, the end of the robot and the acquisition mechanism can make the carrier and the acquisition mechanism move in the same direction. For example, when the machine is located at the leftmost side of the carrier, the acquisition mechanism will be located at the rightmost side of the carrier; when the machine is located at the rightmost side of the carrier, the acquisition mechanism will be located at the leftmost side of the carrier, thereby improving the movement speed of the acquisition mechanism and thus improving the movement rhythm of the handling device.

[0014] In an optional embodiment, the transmission mechanism includes:

[0015] The driving wheel and the driven wheel are respectively arranged at two ends of the bearing member and are hinged to the bearing member;

[0016] The transmission belt is sleeved on the driving wheel and the driven wheel. The driving mechanism is used to drive the driving wheel to rotate. The first connecting member and the second connecting member are respectively connected to the transmission belt on both sides of the bearing member.

[0017] Beneficial effects:

[0018] Through such an arrangement, the movement directions of the transmission belts on both sides of the carrier can be opposite, and the end of the robot and the acquisition mechanism can be driven to move in the opposite direction relative to the carrier, so that the carrier and the acquisition mechanism move in the same direction, thereby improving the movement speed of the acquisition mechanism, thereby improving the movement rhythm of the handling device.

[0019] In an optional embodiment, the additional shaft includes:

[0020] The first mounting shell is arranged at the first end of the bearing member, the driving wheel is arranged in the first mounting shell, and the rotating shaft of the driving wheel is hinged to the first mounting shell, and the additional shaft also includes:

[0021] The second installation shell is connected to the first installation shell, and the driving mechanism is arranged in the second installation shell.

[0022] Beneficial effect: Through such an arrangement, the driving wheel can be fixed to one side of the bearing member through the first mounting shell, the second mounting shell is connected to the first mounting shell, and the driving wheel can be fixed to one side of the first mounting shell through the second mounting shell.

[0023] In an optional embodiment, the driving mechanism includes a rotation source and a reducer, and the second mounting shell includes:

[0024] A first shell section extends along the length direction of the bearing member, and the rotation source is arranged in the first shell section;

[0025] The second shell section is connected between the first shell section and the second shell section, and the reducer is arranged in the second shell section.

[0026] Beneficial effect: Through such an arrangement, the rotation source can be arranged on one side of the carrier, and the reducer can be arranged between the rotation source and the driving wheel. Through the reasonable allocation of the positions of the rotation source and the reducer, it can be ensured that the driving mechanism will not occupy a large space along the length and width directions of the carrier, thereby making the structure of the additional shaft more compact.

[0027] In an optional embodiment, a protective shell is provided at the second end of the carrier, and the driven wheel is arranged in the protective shell.

[0028] Beneficial effect: The protective shell can prevent external debris from contacting the driven wheel and the transmission belt, and prevent the operator's hands from touching the transmission belt and the driven wheel to avoid danger.

[0029] In an optional embodiment, the additional shaft further includes:

[0030] End plates are respectively provided at both ends of the bearing member, the end plates are arranged at an angle with the bearing member, and a first avoidance opening and a second avoidance opening are formed, the first avoidance opening and the second avoidance opening are respectively located on both sides of the bearing member, and the transmission belt passes through the first avoidance opening and the second avoidance opening and is sleeved outside the driving wheel and the driven wheel;

[0031] At least two protective covers are respectively arranged on both sides of the carrier, and both ends of the protective covers are connected to an end plate respectively. The first connecting member and the second connecting member are respectively arranged on the side of the protective cover away from the carrier, and pass through the gap between the protective cover and the carrier to connect the transmission belt.

[0032] Beneficial effect: Through such an arrangement, the end plate can be used to connect the driving wheel and the driven wheel, and support the protective cover. The protective cover can prevent foreign debris from falling into the transmission belt, causing pollution or damage to the transmission belt, and prevent the operator's hands from touching the transmission belt and causing danger.

[0033] In an optional embodiment, the additional shaft further includes:

[0034] A drag chain support groove and a first drag chain, the drag chain support groove and the driving mechanism are arranged at the same side edge of the bearing member, the first drag chain is slidably connected to the drag chain support groove, and the first drag chain is used to accommodate the cable of the driving mechanism; and / or,

[0035] The second drag chain includes a first section, a connecting section and a second section connected in sequence. The first section is arranged below the carrier, and the second section is arranged above the carrier. The connecting section connects the first section and the second section. The second drag chain is used to accommodate the cable of the acquisition mechanism.

[0036] Beneficial effect: Through such arrangement, the first drag chain can be used to bind the cables of the driving mechanism and allow the cables of the driving mechanism to slide smoothly with the driving mechanism. The drag chain support groove and the driving mechanism are arranged at the same side edge of the bearing member, which can guide and support the first drag chain.

[0037] In addition, the additional shaft in the embodiment of the present application uses the gap formed between the driving mechanism and the bearing member to set the drag chain support groove, which can make the structure of the additional shaft more compact.

[0038] The second section of the second drag chain is bent to the top of the carrier, so that during the movement of the second drag chain, the second section can abut against the upper surface of the carrier, so that the main part of the additional shaft can also support the second drag chain, thereby saving a drag chain support groove and making the structure of the additional shaft simpler and more compact.

[0039] In a second aspect, the present invention further provides a transport device, comprising:

[0040] robot;

[0041] The additional shaft of the first aspect of the present invention is connected to the end of the robot.

[0042] Beneficial effect: The handling device of the second aspect of the present invention includes or uses the additional shaft of the first aspect of the present invention, and thus has its beneficial effect, namely: it can be used in a relatively narrow working space in an environment such as the stamping field, and avoid the movement of the end of the robot causing a collision with surrounding equipment, and ensure that the setting of the driving mechanism does not increase the size of the additional shaft along the thickness direction of the carrier, thereby further reducing the risk of the additional shaft colliding with surrounding equipment and helping to improve the flexibility of the handling device.

[0043] In an optional embodiment, the transport device is the transport device involved in the second aspect of the present invention, and the control method includes:

[0044] After the robot is powered on, determine whether an additional axis is connected to the end of the robot;

[0045] When an additional axis is connected to the end of the robot, the additional axis function is enabled;

[0046] When no additional axis is connected to the end of the robot, the additional axis function is not enabled.

[0047] In a third aspect, the present invention further provides a method for controlling a transport device, further comprising:

[0048] In response to the shielding instruction, the driving mechanism of the additional shaft is controlled to stop rotating.

[0049] Beneficial effect: Through such an arrangement, the additional axis can not only be used to transport the workpiece, but also can extend the end of the robot when its own driving mechanism is not rotating. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 A three-dimensional diagram of a transport device according to an embodiment of the present invention;

[0052] Figure 2 for Figure 1 Additional axles of the handling device shown;

[0053] Figure 3 A top view of an additional shaft of a handling device according to an embodiment of the present invention;

[0054] Figure 4 For along Figure 3 The cross-sectional view at line AA in FIG.

[0055] Figure 5 for Figure 4 A in the enlarged view;

[0056] Figure 6 for Figure 4 The enlarged view of point B in the figure;

[0057] Figure 7 It is a schematic diagram of a handling device in a use state according to an embodiment of the present invention, in which the handling device obtains a workpiece from a stamping device in a previous stamping process;

[0058] Figure 8 It is a schematic diagram of a handling device in a use state according to an embodiment of the present invention, in which the handling device places a workpiece into a stamping device for the next stamping process;

[0059] Fig. 9 The present invention is a flowchart of a control method for a transport device according to an embodiment of the present invention.

[0060] Description of reference numerals:

[0061] 1. Additional axis;

[0062] 101, bearing member;

[0063] 102. Driving wheel;

[0064] 103, driven wheel;

[0065] 104. Transmission belt;

[0066] 106. a first connecting member;

[0067] 107. A second connecting member;

[0068] 108. a first mounting shell;

[0069] 109, second installation shell; 1091, first shell segment; 1092, second shell segment;

[0070] 110, end plate; 1101, first avoidance opening; 1102, second avoidance opening;

[0071] 111, protective shell;

[0072] 112. Protective cover;

[0073] 114. Drag chain support groove;

[0074] 115. First drag chain;

[0075] 116. Second drag chain;

[0076] 117. Acquisition Agency;

[0077] 118. Guide rail;

[0078] 2. Robot; 3. Stamping equipment. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0080] With the continuous improvement of industrial automation, more and more operation scenarios need to be performed by machines instead of humans.

[0081] In actual industrial automation application scenarios, due to various mechanical structures and compact layout of the site, there are many narrow operating environments. For example, in the sheet metal and stamping fields, the robot 2 needs to load and unload materials, and often needs to make the end of the robot 2 with the additional axis 1 extend into the stamping equipment 3 to pick up the material, and then the robot 2 moves out of the equipment working space, and the end of the robot 2 carries the additional axis 1 to move to the next stamping process and extends into the stamping equipment 3 to put the material.

[0082] Since the stamping equipment 3 has upper and lower dies, guide pillars and other mechanisms, the robot 2 cannot be effectively and flexibly displayed in the working space of the equipment, such as rotating and moving, etc. These actions may collide with the accessories of the stamping equipment 3, so the robot 2 can only move out of the working space of the stamping equipment 3 after taking the material, adjust its posture outside, and then move to the next process to take and put the material, which greatly reduces the flexibility of the robot 2, greatly increases the work rhythm, and reduces production capacity.

[0083] Combine the following Figures 1 to 8 , describing an embodiment of the present invention.

[0084] According to an embodiment of the present invention, on the one hand, an additional shaft 1 is provided, such as Figure 2 As shown, it includes a carrier 101, a driving mechanism, a first connecting member 106, a second connecting member 107 and a transmission mechanism. The driving mechanism is arranged at one side edge of the carrier 101. The first connecting member 106 is used to connect the robot 2, and the second connecting member 107 is used to connect the acquisition mechanism 117. The transmission mechanism is connected to the driving mechanism, and can drive the first connecting member 106 and the second connecting member 107 to move in the opposite direction relative to the carrier 101 under the action of the driving mechanism.

[0085] During use of the additional shaft 1 of the present invention, the support member 101 itself occupies a relatively small space and can be easily inserted into a relatively narrow space such as the stamping equipment 3. At the same time, the acquisition mechanism 117 can move along the length direction of the support member 101 under the action of the driving mechanism and the transmission mechanism, so as to flexibly perform the operation of picking up and placing the workpiece, ensuring that in the process of picking up and placing the workpiece, the end of the robot 2 does not need to be extended into a narrow working space, and the robot 2 does not need to change its posture in a narrow space, thereby avoiding the movement of the end of the robot 2 and causing collision with surrounding equipment.

[0086] On this basis, the driving mechanism is arranged at one side edge of the carrier 101, thereby ensuring that the setting of the driving mechanism will not increase the size of the additional shaft 1 along the thickness direction of the carrier 101, thereby further reducing the risk of collision between the additional shaft 1 and surrounding equipment, and helping to improve the flexibility of the transport device.

[0087] Furthermore, during use of the additional axis 1 of the embodiment of the present invention, the end of the robot 2 and the acquisition mechanism 117 can move in opposite directions relative to the carrier 101, thereby making the carrier 101 and the acquisition mechanism 117 move in the same direction. For example, when the robot is located at the leftmost side of the carrier 101, the acquisition mechanism 117 will be located at the rightmost side of the carrier 101; similarly, when the robot 2 is located at the rightmost side of the carrier 101, the acquisition mechanism 117 will be located at the leftmost side of the carrier 101, thereby improving the movement speed of the acquisition mechanism 117 and thereby improving the movement rhythm of the handling device.

[0088] The acquisition mechanism 117 is preferably, but not limited to, a suction cup, a clamp or a claw.

[0089] The carrier 101 is preferably, but not limited to, a carrier plate.

[0090] In one embodiment, Figures 4 to 6 As shown, the transmission mechanism includes a driving wheel 102 , a driven wheel 103 and a transmission belt 104 .

[0091] The driving wheel 102 and the driven wheel 103 are respectively arranged at the two ends of the carrier 101 and are hinged to the carrier 101. The transmission belt 104 is sleeved on the driving wheel 102 and the driven wheel 103, and the driving mechanism is used to drive the driving wheel 102 to rotate. The first connecting member 106 and the second connecting member 107 are respectively connected to the transmission belt 104 on both sides of the carrier 101.

[0092] Through such an arrangement, the movement directions of the transmission belts 104 on both sides of the carrier 101 can be opposite, and the end of the robot 2 and the acquisition mechanism 117 can be driven to move in the opposite direction relative to the carrier 101, so that the carrier 101 and the acquisition mechanism 117 move in the same direction, thereby improving the movement rate of the acquisition mechanism 117, thereby improving the movement rhythm of the handling device.

[0093] As a convertible implementation, in an embodiment not shown in the drawings, the driving mechanism includes a rotation source, on which a first cam and a second cam extending in opposite directions are provided, and the transmission mechanism includes a guide rail 118, a first connecting rod connected between the first cam and the first connecting member 106, and a second connecting rod connected between the second cam and the second connecting member 107. The rotation source can drive the first connecting member 106 and the second connecting member 107 to move in opposite directions through the first cam and the second cam when rotating.

[0094] In one embodiment, Figure 3As shown, the additional shaft 1 further includes a first mounting shell 108 and a second mounting shell 109. The first mounting shell 108 is disposed at the first end of the bearing member 101, the driving wheel 102 is disposed in the first mounting shell 108, and the rotating shaft of the driving wheel 102 is hinged to the first mounting shell 108. The additional shaft 1 further includes a second mounting shell 109 connected to the first mounting shell 108, and the driving mechanism is disposed in the second mounting shell 109.

[0095] By such configuration, the driving wheel 102 can be fixed to one side of the carrier 101 through the first mounting shell 108 , and the second mounting shell 109 is connected to the first mounting shell 108 , and the driving wheel 102 can be fixed to one side of the first mounting shell 108 through the second mounting shell 109 .

[0096] In one embodiment, the driving mechanism includes a rotation source and a speed reducer, and the second mounting shell 109 includes a first shell segment 1091 and a second shell segment 1092. The first shell segment 1091 extends along the length direction of the bearing member 101, and the rotation source is disposed in the first shell segment 1091. The second shell segment 1092 is connected between the first shell segment 1091 and the second shell segment 1092, and the speed reducer is disposed in the second shell segment 1092.

[0097] Through such an arrangement, the rotation source can be arranged on one side of the carrier 101, and the reducer can be arranged between the rotation source and the driving wheel 102. By reasonably allocating the positions of the rotation source and the reducer, it can be ensured that the driving mechanism does not occupy a large space along the length and width directions of the carrier 101, thereby making the structure of the additional shaft 1 more compact.

[0098] The rotation source may be a device capable of outputting rotation, such as an electric motor, an engine, a hydraulic motor, or a combination of one of them and a reducer.

[0099] In one embodiment, Figure 5 and Figure 6 As shown, the additional shaft 1 also includes an end plate 110 and at least two protective covers 112. The end plates 110 are respectively provided at both ends of the carrier 101. The end plates 110 are arranged at an angle with the carrier 101 and are formed with a first avoidance opening 1101 and a second avoidance opening 1102. The first avoidance opening 1101 and the second avoidance opening 1102 are respectively located on both sides of the carrier 101. The transmission belt 104 passes through the first avoidance opening 1101 and the second avoidance opening 1102 and is sleeved outside the driving wheel 102 and the driven wheel 103. At least two protective covers 112 are respectively provided on both sides of the carrier 101. The two ends of the protective covers 112 are respectively connected to one end plate 110. The first connecting member 106 and the second connecting member 107 are respectively provided on the side of the protective cover 112 away from the carrier 101, and pass through the gap between the protective cover 112 and the carrier 101 to connect the transmission belt 104.

[0100] By such an arrangement, the end plate 110 can be used to connect the driving wheel 102 and the driven wheel 103, and support the protective cover 112. The protective cover 112 can prevent foreign debris from falling into the transmission belt 104, causing pollution or damage to the transmission belt 104, and prevent the operator's hands from contacting the transmission belt 104 and causing danger.

[0101] The protection cover 112 may be a mounting plate connected to the end plate 110 .

[0102] In one embodiment, a protective shell 111 is disposed at the second end of the carrier 101 , and the driven wheel 103 is disposed in the protective shell 111 .

[0103] The protective shell 111 can prevent foreign matter from contacting the driven wheel 103 and the transmission belt 104 , and prevent the operator's hand from touching the transmission belt 104 and the driven wheel 103 , thereby avoiding danger.

[0104] In one embodiment, the additional shaft 1 further includes a guide rail 118 . The guide rail 118 is disposed on a side surface of the bearing member 101 and extends along the length direction of the bearing member 101 . The first connecting member 106 is slidably connected to the guide rail 118 .

[0105] By such arrangement, the guide rail 118 can limit and guide the first connecting member 106 , and at the same time replace the transmission belt 104 to bear part of the weight of the additional shaft 1 , which helps to extend the service life of the additional shaft 1 .

[0106] In a preferred embodiment, the additional shaft 1 further includes a drag chain support groove 114, a first drag chain 115 and a second drag chain 116. The drag chain support groove 114 and the driving mechanism are arranged at the same side edge of the carrier 101, the first drag chain 115 is slidably connected to the drag chain support groove 114, and the first drag chain 115 is used to accommodate the cable of the driving mechanism.

[0107] By so configuring, the first drag chain 115 can be used to bind the cables of the drive mechanism and allow the cables of the drive mechanism to slide smoothly with the drive mechanism. The drag chain support groove 114 and the drive mechanism are arranged at the same side edge of the carrier 101, which can guide and support the first drag chain 115.

[0108] In addition, the additional shaft 1 of the embodiment of the present application is provided with the drag chain support groove 114 by means of the gap formed between the driving mechanism and the bearing member 101 , so that the structure of the additional shaft 1 can be made more compact.

[0109] The second drag chain 116 includes a first section, a connecting section and a second section connected in sequence, wherein the first section is arranged below the carrier 101 and the second section is arranged above the carrier 101. The connecting section connects the first section and the second section, and the second drag chain 116 is used to accommodate the cables of the acquisition mechanism 117.

[0110] By such an arrangement, the second section of the second drag chain 116 is bent to the top of the carrier 101, so that during the movement of the second drag chain 116, the second section can abut against the upper surface of the carrier 101, so that the main part of the additional shaft 1 can also support the second drag chain 116, thereby saving a drag chain support groove 114 and making the structure of the additional shaft 1 simpler and more compact.

[0111] In a preferred embodiment, a chamfer is formed between adjacent side walls of the protective shell 111 , thereby preventing the second drag chain 116 from interfering with the protective shell 111 when the second drag chain 116 moves along the length direction of the carrier 101 .

[0112] According to an embodiment of the present invention, in a second aspect, there is further provided a handling device, comprising a robot 2 and the additional axis 1 provided in the first aspect of the present invention.

[0113] The additional axis 1 is connected to the end of the robot 2 .

[0114] The handling device of the second aspect of the present invention includes or uses the additional axis 1 of the first aspect of the present invention, and thus has its beneficial effects, namely: it can be used in a relatively narrow working space in an environment such as the stamping field, and avoid the movement of the end of the robot 2 and collision with surrounding equipment, and ensure that the setting of the driving mechanism will not increase the size of the additional axis 1 along the thickness direction of the carrier 101, thereby further reducing the risk of collision between the additional axis 1 and surrounding equipment, and helping to improve the flexibility of the handling device.

[0115] Among them, the robot 2 can be selected as a robotic arm.

[0116] In a preferred embodiment, the robot 2 is a six-axis robot 2 or a four-axis robot 2 or the like.

[0117] In one embodiment, the transport device further includes a ground rail laid on the ground, and the robot 2 is disposed on the ground rail.

[0118] According to an embodiment of the present invention, in a third aspect, a control method for a transport device is also provided.

[0119] Wherein, the transport device is the transport device of the second aspect of the present invention, such as Fig. 9 As shown, the control method includes step S1, step S2 and step S3.

[0120] Wherein, step S1 includes: after the robot 2 is powered on, determining whether the end of the robot 2 is connected to an additional axis 1 .

[0121] Step S2 includes: when the additional axis 1 is connected to the end of the robot 2, enabling the function of the additional axis 1.

[0122] Step S3 includes: when the additional axis 1 is not connected to the end of the robot 2, the function of the additional axis 1 is not enabled.

[0123] Since the robot 2 is usually a standard product, the control method of the embodiment of the present invention allows the robot 2 to shield the function of the additional axis 1 and be used alone when the additional axis 1 is not connected to the end of the robot 2.

[0124] When an additional axis 1 is connected to the end of the robot 2, the handling device can enable the additional axis 1, thereby flexibly switching the programming mode according to different application scenarios.

[0125] Among them, Robot 2 can be selected to check all connected hardware during startup or self-test, including additional axis 1. If additional axis 1 is configured in the Robot 2 controller and the hardware of additional axis 1 is connected correctly, the Robot 2 system will recognize the existence of additional axis 1.

[0126] As an alternative embodiment, the mechanical interfaces and electrical connections of the robot 2 can be designed to provide signals when the additional axis 1 is detected. If the additional axis 1 is correctly connected to the other robot 2 components, these signals will be recognized by the control system of the robot 2.

[0127] In one embodiment, after the step of enabling the additional axis 1, the method further includes:

[0128] Establish relevant workpiece and tool coordinate systems; program according to application requirements; drag additional axis 1 to roughly locate the material picking position; digitally and accurately locate each position point; program test run and automatic operation, etc.

[0129] The workpiece coordinate system refers to a coordinate system defined in programming the robot 2 for conveniently describing the positions of various points on the workpiece. It is usually associated with the geometric features of the workpiece and is well known to those skilled in the art, so it will not be described in detail here.

[0130] Digital precise positioning of each location point refers to the use of modern digital technology to measure and track the precise position of objects or people in space. This technology usually involves high-precision positioning systems, such as positioning technology based on the Beidou satellite navigation system, and indoor positioning technologies such as ultra-wideband (UWB) technology.

[0131] Program testing, also often called debugging, is a critical step in the software development process. Its main purpose is to run the program after it is written to detect and fix errors or problems in it.

[0132] In one embodiment, after the step of not enabling the additional axis 1, the steps also include: establishing relevant workpiece and tool coordinate systems; programming according to application requirements; dragging the additional axis 1 to roughly locate the material picking position; digitally and accurately locating each position point; program trial run and automatic operation, etc.

[0133] In one embodiment, the control method further includes step S4.

[0134] Step S4 includes: controlling the driving mechanism of the additional shaft 1 to stop rotating in response to the shielding instruction.

[0135] By such arrangement, the additional axis 1 can not only be used to transport the workpiece, but also can play a role of extending the end of the robot 2 when its own driving mechanism is not rotating.

[0136] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope required by the present application.

Claims

1. An additional shaft, characterized in that: include: A carrier (101); A driving mechanism is arranged at one side edge of the supporting member (101); A first connecting member (106) and a second connecting member (107), wherein the first connecting member (106) is used to connect to the robot (2), and the second connecting member (107) is used to connect to the acquisition mechanism (117); The transmission mechanism is connected to the driving mechanism and can drive the first connecting member (106) and the second connecting member (107) to move in opposite directions relative to the supporting member (101) under the action of the driving mechanism.

2. The additional shaft according to claim 1, characterized in that: The transmission mechanism comprises: A driving wheel (102) and a driven wheel (103) are respectively arranged at two ends of the bearing member (101) and are hinged to the bearing member (101); A transmission belt (104) is sleeved on the driving wheel (102) and the driven wheel (103); the driving mechanism is used to drive the driving wheel (102) to rotate; a first connecting member (106) and a second connecting member (107) are respectively connected to the transmission belt (104) on both sides of the bearing member (101).

3. The additional shaft according to claim 2, characterized in that: The additional shaft (1) comprises: A first mounting shell (108) is disposed at a first end of the bearing member (101), the driving wheel (102) is disposed in the first mounting shell (108), and the rotating shaft of the driving wheel (102) is hinged to the first mounting shell (108); The second mounting shell (109) is connected to the first mounting shell (108), and the driving mechanism is arranged in the second mounting shell (109).

4. The additional shaft according to claim 3, characterized in that The driving mechanism includes a rotation source and a reducer, and the second mounting shell (109) includes: A first shell section (1091) extending along the length direction of the bearing member (101), wherein the rotation source is arranged in the first shell section (1091); The second shell segment (1092) is connected between the first shell segment (1091) and the second shell segment (1092), and the reducer is arranged in the second shell segment (1092).

5. The additional shaft according to any one of claims 2 to 4, characterized in that A protective shell (111) is provided at the second end of the carrier (101), and the driven wheel (103) is arranged in the protective shell (111).

6. The additional shaft according to any one of claims 2 to 4, characterized in that The additional shaft (1) further comprises: end plates (110), the end plates (110) being respectively arranged at both ends of the bearing member (101), the end plates (110) being arranged at an angle with the bearing member (101), and forming a first avoidance opening (1101) and a second avoidance opening (1102), the first avoidance opening (1101) and the second avoidance opening (1102) being respectively located at two sides of the bearing member (101), the transmission belt (104) passing through the first avoidance opening (1101) and the second avoidance opening (1102) and being sleeved outside the driving wheel (102) and the driven wheel (103); At least two protective covers (112) are respectively arranged on both sides of the support member (101), and both ends of the protective cover (112) are respectively connected to one of the end plates (110). The first connecting member (106) and the second connecting member (107) are respectively arranged on a side of the protective cover (112) away from the support member (101), and pass through a gap between the protective cover (112) and the support member (101) to connect the transmission belt (104).

7. The additional shaft according to any one of claims 2 to 4, characterized in that The additional shaft (1) further comprises: a drag chain support groove (114) and a first drag chain (115), wherein the drag chain support groove (114) and the driving mechanism are arranged at the same side edge of the carrier (101), the first drag chain (115) is slidably connected to the drag chain support groove (114), and the first drag chain (115) is used to accommodate the cable of the driving mechanism; and / or, The second drag chain (116) comprises a first section, a connecting section and a second section which are connected in sequence, wherein the first section is arranged below the carrier (101), the second section is arranged above the carrier (101), the connecting section connects the first section and the second section, and the second drag chain (116) is used to accommodate the cable of the acquisition mechanism (117).

8. A transport device, characterized in that: include: Robots (2); The additional axis (1) according to any one of claims 1 to 7, connected to the end of the robot (2).

9. A method for controlling a transport device, characterized in that: The transport device is the transport device according to claim 8, and the control method comprises: After the robot (2) is powered on, determining whether an additional shaft (1) is connected to the end of the robot (2); When an additional axis (1) is connected to the end of the robot (2), the function of the additional axis (1) is enabled; When the additional axis (1) is not connected to the end of the robot (2), the function of the additional axis (1) is not enabled.

10. The control method of the conveying device according to claim 9, characterized in that: Also includes: In response to the shielding instruction, the driving mechanism of the additional shaft (1) is controlled to stop rotating.

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