Method and system for docking loading tracks of multi-station three-dimensional robotic arms

Abstract

This application relates to the field of three-dimensional feeding equipment technology, specifically to a method and system for docking a feeding track with a multi-station three-dimensional robotic arm. In application, the passive end position parameters of the feeding track are first received. The active end of the feeding track is moved to a pre-aligned position using the three-dimensional motion of the robotic arm. Then, the positioning pins and telescopic bosses are sequentially engaged into locking slots to complete the initial docking. Subsequently, the telescopic bosses are pulled back with a reference step length for a first locking. Considering that insufficient locking force, long-term deformation, manufacturing errors, and excessive load may lead to insufficient locking force and track misalignment, the shaking amplitude after the first locking is monitored. If it exceeds the standard, the locking is performed by unlocking and increasing the telescopic boss's pullback stroke, repeating the locking process. This closed-loop control of monitoring-unlocking-extending-locking adapts to different working conditions until the shaking reaches the standard. Finally, the hydraulic system maintains pressure and locks, forming a continuous locking force, achieving high pre-tightening force docking between the active and passive ends, ensuring the stability of high-load, high-precision feeding.

Description

Technical Field

[0001] This application relates to the field of three-dimensional feeding equipment technology, specifically to a method and system for docking the feeding track of a multi-station three-dimensional robot. Background Technology

[0002] In the field of automated production, multi-station three-dimensional robotic arms, with their three-dimensional spatial motion capabilities, have become the core actuators of high-precision feeding equipment. They are widely used in scenarios with stringent requirements for feeding accuracy and stability, such as electronic component assembly, automotive parts processing, and precision machinery manufacturing. One of the core technical aspects of this type of feeding equipment is the precise docking of the loading track and the worktable feeding track. The quality of this docking directly determines the smoothness of workpiece transmission, positioning accuracy, and the stability of equipment operation. Especially under high-load, continuous operation conditions, the requirements for gapless and skew-free track docking are even more prominent.

[0003] Currently, the mainstream material feeding track docking method in the industry mostly adopts a combination of "mechanical positioning + fixed step length locking": a robotic arm moves the active end of the material feeding track to the vicinity of the passive end of the feeding track, and the positioning pins and slots cooperate to achieve initial alignment. Then, a hydraulic or pneumatic mechanism drives the locking component (such as a telescopic boss) to complete the locking by a preset fixed reference step length, ultimately achieving track docking. However, in practical applications, this traditional docking method has exposed many unavoidable technical defects: insufficient locking force in a single lock leads to ineffective locking; structural deformation, unavoidable dimensional errors during workpiece manufacturing, and deformation caused by high-load operations make it difficult to eliminate initial deviations through a single mechanical positioning, easily leading to track docking misalignment. Ineffective locking can cause track wobbling after docking, affecting feeding stability.

[0004] These technical defects directly lead to the difficulty of achieving high-precision docking with "no skew and no gap" using traditional docking methods. In high-load, high-precision feeding scenarios, problems such as workpiece jamming and excessive positioning deviation are prone to occur, which seriously restricts the operating efficiency and product quality of automated production equipment. Therefore, there is an urgent need for a feeding track docking method that can adapt to complex working conditions, dynamically adjust the locking force, and has closed-loop error correction capabilities to solve the shortcomings of existing technologies. Summary of the Invention

[0005] In view of this, this application provides a method and system for docking the loading track of a multi-station three-dimensional robot, which can adapt to complex working conditions, dynamically adjust the locking force, and effectively reduce the offset of the loading track and the feeding track.

[0006] In a first aspect, this application provides a method for docking a loading track with a multi-station three-dimensional robot, comprising: step S1, receiving position parameters of the passive end of the loading track; step S2, based on the position parameters, controlling the three-dimensional robot to drive the active end of the loading track to a pre-aligned position; step S3, controlling the three-dimensional robot to drive the active end to move downward so that its positioning post and telescopic boss sequentially engage in the slot of the passive end until the active end and the passive end are aligned; step S4, controlling the hydraulic system to pull back the telescopic boss by a reference step length for a first locking; step S5, after the hydraulic system stops working, monitoring the sway amplitude of the active end relative to the passive end; step S6, if the sway amplitude is greater than a preset amplitude, controlling the hydraulic system to push the telescopic boss to unlock, and controlling the hydraulic system to pull back the telescopic boss by a stroke step length finely adjusted by the reference step length for repeated locking; step S7, repeating step S6 until the sway amplitude is less than or equal to the preset amplitude; step S8, controlling the hydraulic system to maintain pressure and lock.

[0007] In conjunction with the first aspect, in one possible implementation, step S2 includes: step S201, obtaining the target x-coordinate, target y-coordinate, and target z-coordinate corresponding to the passive end reference point of the passive end according to the position parameters; the z-coordinate axis is the vertical direction, and the x-coordinate axis is the length direction of the feeding track; step S202, controlling the three-dimensional robot to drive the active end reference point of the active end to a pre-aligned z-coordinate above the target z-coordinate, the difference between the pre-aligned z-coordinate and the target z-coordinate being greater than the z-axis dimension of the passive end; step S203, controlling the three-dimensional robot to drive the active end reference point of the active end to the pre-aligned x-coordinate, the pre-aligned x-coordinate being the same as the target x-coordinate; step S204, controlling the three-dimensional robot to drive the active end reference point of the active end to the pre-aligned y-coordinate, the pre-aligned y-coordinate being the same as the target y-coordinate.

[0008] In conjunction with the first aspect, in one possible implementation, step S3 includes: step S301, setting the z-axis descent speed in the control data of the three-dimensional manipulator as a reference speed; step S302, based on the reference speed, controlling the three-dimensional manipulator to drive the active end reference point of the active end to move along the z-axis to the target z coordinate.

[0009] In conjunction with the first aspect, in one possible implementation, the active end is provided with a mounting hole for assembling a detector, and the passive end is provided with a detection anchor point that matches the mounting hole; step S5 includes: step S501, when the hydraulic system is hydraulically stable, acquiring the detection data of the detector on the detection anchor point within a first preset time period; step S502, calculating the maximum jitter amplitude of the detection anchor point within the first preset time period based on the detection data; step S6 includes: step S601, if the maximum jitter amplitude is greater than the preset amplitude, controlling the hydraulic system to push the telescopic boss to unlock, and controlling the hydraulic system to pull back the telescopic boss with a stroke step length after fine adjustment to perform secondary locking.

[0010] In conjunction with the first aspect, in one possible implementation, step S502 includes: step S510, acquiring the initial coordinates of the detection anchor point at the start of the first preset duration; step S520, generating the motion trajectory of the detection anchor point in the yz plane within the first preset duration; step S530, obtaining the maximum jitter coordinate that is furthest from the initial coordinate based on the motion trajectory; and step S540, obtaining the maximum jitter amplitude based on the maximum jitter coordinate and the initial coordinate.

[0011] In conjunction with the first aspect, in one possible implementation, step S601 includes: step S6011, after the telescopic boss is unlocked, generating a waiting command; step S6012, after the waiting time corresponding to the waiting command, controlling the hydraulic system to pull back the telescopic boss to perform repeated locking by weighting the reference step length by (N-1) fine-tuning steps; N is the number of times the locking is repeated.

[0012] In conjunction with the first aspect, in one possible implementation, step S6 further includes: step S610, gradually increasing the fine-tuning step size according to the number of repeated locking cycles.

[0013] In conjunction with the first aspect, in one possible implementation, it further includes: step S10, if the shaking amplitude is not triggered to be less than or equal to the preset amplitude after repeating step S6 a preset number of times, then stop executing step S6 and step S7, and execute step S4 and step S8 in sequence.

[0014] In conjunction with the first aspect, one possible implementation further includes: step S20, monitoring the offset amplitude of the detection anchor point in real time after step S8; step S21, if the offset amplitude is greater than a preset offset threshold, pulling back the telescopic boss at a preset pull-back speed until the offset amplitude is less than or equal to the preset offset threshold; step S22, if pulling back the telescopic boss at the preset pull-back speed for more than a second preset time period, without triggering the offset amplitude to be less than or equal to the preset offset threshold, generating a warning message.

[0015] Secondly, this application provides a multi-station three-dimensional robotic arm loading track docking system, comprising: a data acquisition module configured to: execute step S1, receive position parameters of the passive end of the loading track; a pre-alignment module, communicatively connected to the data acquisition module, the pre-alignment module configured to: execute step S2, based on the position parameters, control the three-dimensional robotic arm to drive the active end of the loading track to the pre-alignment position; an alignment module, communicatively connected to the pre-alignment module, the alignment module configured to: execute step S3, control the three-dimensional robotic arm to drive the active end to translate downwards so that its positioning post and telescopic boss sequentially engage in the slot of the passive end until the active end and the passive end are aligned with each other; and a primary locking module, communicatively connected to the alignment module, the primary locking module configured to: execute step S4. The hydraulic system is controlled to pull back the telescopic boss by a reference step length for a first locking. A repeat locking module, communicatively connected to the first locking module, is configured to: execute step S5, after the hydraulic system stops working, monitor the sway amplitude of the active end relative to the passive end; execute step S6, if the sway amplitude is greater than a preset amplitude, control the hydraulic system to push the telescopic boss to unlock, and control the hydraulic system to pull back the telescopic boss by a stroke step length finely adjusted from the reference step length for repeat locking; execute step S7, repeat step S6 until the sway amplitude is less than or equal to the preset amplitude; a locking module, communicatively connected to both the first locking module and the repeat locking module, is configured to: execute step S8, control the hydraulic system to maintain pressure and lock.

[0016] In application, this method first receives the position parameters of the passive end of the feeding track. Then, relying on the three-dimensional motion of a robotic arm, the active end of the feeding track is moved to the pre-aligned position. Next, the positioning pins and telescopic bosses are sequentially engaged into the locking slots to complete the initial docking. Subsequently, the telescopic bosses are pulled back with a reference step length for a first locking. Considering that insufficient locking force, long-term deformation, manufacturing errors, and excessive loads may lead to insufficient locking force and track misalignment, the shaking amplitude after the first locking is monitored. If it exceeds the standard, the locking is performed by unlocking and increasing the telescopic boss's pullback stroke. This closed-loop control of monitoring-unlocking-extending-locking adapts to different working conditions until the shaking reaches the standard. Finally, the hydraulic system maintains pressure and locks, forming a continuous locking force, achieving a "no misalignment, no gap" docking between the active and passive ends, ensuring the stability of high-load, high-precision feeding. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the steps of a multi-station three-dimensional robot's loading track docking method according to an embodiment of this application.

[0018] Figure 2 The diagram shown is a structural schematic of a feeding device according to an embodiment of this application;

[0019] Figure 3 for Figure 2 Partial structural diagram;

[0020] Figure 4 The diagram shown is an assembly schematic of the active and passive terminals provided in an embodiment of this application;

[0021] Figure 5 The diagram shown is a schematic representation of the pre-alignment method steps provided in an embodiment of this application;

[0022] Figure 6 The diagram shows a method for loading an active terminal into a passive terminal according to an embodiment of this application.

[0023] Figure 7 The diagram shown is a schematic representation of the specific steps of secondary locking provided in an embodiment of this application;

[0024] Figure 8 The diagram shows the specific steps for calculating the maximum jitter amplitude.

[0025] Figure 9 The diagram shows the specific steps of repeated locking.

[0026] Figure 10 The diagram shows the steps for adjusting the fine-tuning step size.

[0027] Figure 11 The diagram shows the steps of the redundant execution method.

[0028] Figure 12 The diagram shows the steps of fine-tuning based on real-time operating conditions.

[0029] Figure 13 The diagram shows the system structure of the loading track docking system for a multi-station three-dimensional robotic arm. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] An exemplary method for docking the loading track of a multi-station three-dimensional robotic arm is as follows:

[0032] Figure 1 The diagram shown is a schematic representation of the steps of a multi-station three-dimensional robot's loading track docking method according to an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a feeding device provided in an embodiment of this application. Figure 3 for Figure 2 A partial structural diagram. Figure 4 The diagram shown is an assembly schematic of the active and passive ends provided in an embodiment of this application. This application provides a method for docking a loading track for a multi-station three-dimensional robotic arm, applied to a feeding device, such as... Figure 2 and 3 As shown, the feeding device includes a three-dimensional frame 1, on which a z-axis track 2 is arranged vertically. A three-dimensional robot arm 3 is slidably mounted on the z-axis track 2. The three-dimensional robot arm 3 has a y-axis track 4 and a translation end 5. The translation end 5 is slidably mounted on the y-axis track 4, and a feeding track 6 that slides along the x-axis is mounted on the translation end 5. The x-axis, y-axis, and z-axis are perpendicular to each other, with the x-axis being the length direction of the feeding track 6 and the z-axis being the vertical direction. The feeding track 7 of the worktable is arranged along the x-direction. The three-dimensional robot arm 3 is used to align the feeding track 6 with the feeding track 7, and the active end of the feeding track 6 is connected to the passive end of the feeding track 7.

[0033] In one embodiment, such as Figure 1 As shown, the loading track docking method of this multi-station three-dimensional robot includes:

[0034] Step S1: Receive the position parameters of the passive end of the feeding track.

[0035] In this step, the spatial coordinate data of the passive end of the feeding track is obtained to provide a data benchmark for subsequent docking and to clarify the target docking position.

[0036] Step S2: Based on the position parameters, control the three-dimensional robot to drive the active end of the feeding track to the pre-aligned position.

[0037] In this step, a three-dimensional robotic arm controls the three-dimensional motion of the loading track along the x, y, and z axes, moving the active end to a preset area near the passive end. This reduces the initial positional deviation between the active and passive ends, making alignment easier for subsequent precise engagement.

[0038] Step S3: Control the three-dimensional manipulator to drive the active end to move downward so that its positioning post and telescopic boss are sequentially inserted into the slot of the passive end until the active end and the passive end are aligned with each other.

[0039] In this step, the initial mechanical positioning of the active and passive ends is achieved through the sequential engagement of the positioning pins and telescopic bosses with the locking slots, completing their spatial docking. For example... Figure 4 As shown, the protrusion 8011 of the telescopic protrusion 801 of the active end 8 is engaged in the locking groove 901 of the passive end 9. After the telescopic protrusion 801 is pulled back, the protrusion 8011 abuts against the inner wall of the locking groove 901. The greater the pull-back stroke of the telescopic protrusion 801, the tighter the abutment between the protrusion 8011 and the inner wall of the groove, that is, the tighter the locking between the active end 8 and the passive end 9.

[0040] Step S4: Control the hydraulic system to pull back the telescopic boss by a reference step length to perform a locking operation.

[0041] In this step, the telescopic boss is pulled back with a reference step length, and the active end and passive end are initially fixed by hydraulic force, which quickly eliminates the docking gap, forms the initial locking force, and ensures the initial stability of the docking structure.

[0042] Step S5: After the hydraulic system stops working, monitor the sway amplitude of the active end relative to the passive end.

[0043] In this step, the main reasons for wobbling after the first locking are: 1. Insufficient locking force in the first locking, causing the feeding track and loading track to gradually become relatively misaligned; 2. Deformation of the telescopic boss and locking slot caused by long-term use of the active and passive ends; 3. Poor matching between the telescopic boss and locking slot due to workpiece manufacturing errors; 4. Excessive previous feeding load causing deformation of the telescopic boss and locking slot. In this step, if relative wobbling is detected after the first locking and the wobbling amplitude is greater than the preset amplitude, it directly reflects that the locking force under the current reference step locking state does not match the actual working conditions, indicating that the optimal locking state cannot be achieved with the reference step.

[0044] Step S6: If the shaking amplitude is greater than the preset amplitude, control the hydraulic system to push the telescopic boss to unlock it, and control the hydraulic system to pull back the telescopic boss with a stroke step length after fine adjustment of the reference step length to lock it again.

[0045] In this step, the problem of "insufficient locking force at the reference step length" caused by insufficient locking force, deformation, manufacturing errors, or excessive load is addressed by unlocking to eliminate ineffective locking. By increasing the pullback range of the telescopic boss, the hydraulic locking force is directly increased, minimizing the gap between the telescopic boss and the locking groove and compensating for structural mismatch errors. This ensures the levelness between the loading track and the feeding track, guaranteeing the flatness of the track connection.

[0046] Step S7: Repeat step S6 until the shaking amplitude is less than or equal to the preset amplitude.

[0047] In this step, a closed-loop process of "monitoring-unlocking-increasing step size-locking" is used to continuously accumulate locking force, gradually adapting to different degrees of deformation, error, and load deformation: minor deformation / error can be met by small stroke increases, while severe deformation or heavy load scenarios achieve sufficient locking force through multiple stroke increases. This solves the pain point that a single reference step size cannot adapt to complex working conditions, ensuring that regardless of docking problems caused by long-term use, manufacturing errors, or heavy loads, the optimal locking state can be achieved through dynamic stroke-increasing locking. Ultimately, it achieves "no skew, no gap" docking between the active and passive ends, ensuring the relative flatness of the loading track and the feeding track, and meeting the stability requirements of high-load, high-precision feeding.

[0048] Step S8: Control the hydraulic system to maintain pressure and lock.

[0049] In this step, based on the sufficient locking force generated by dynamic range extension locking, stable pressure is maintained by pressure holding to form a continuous locking force and complete the docking work.

[0050] In this embodiment, the passive end position parameters of the feeding track are first received. The active end of the feeding track is then moved to the pre-aligned position using the three-dimensional motion of the robotic arm. The positioning pins and telescopic bosses are then sequentially engaged into the locking slots to complete the initial docking. Subsequently, the telescopic bosses are pulled back in a reference step length for a first locking. Considering that insufficient locking force, long-term deformation, manufacturing errors, and excessive loads may lead to insufficient locking force and track misalignment, the shaking amplitude after the first locking is monitored. If it exceeds the standard, the locking is performed by unlocking and increasing the telescopic boss's pullback stroke. This closed-loop control of monitoring-unlocking-extending-locking adapts to different working conditions until the shaking reaches the standard. Finally, the hydraulic system maintains pressure and locks, forming a continuous locking force, achieving a "no misalignment, no gap" docking between the active and passive ends, ensuring the stability of high-load, high-precision feeding.

[0051] Figure 5The diagram shown illustrates the steps of a pre-alignment method according to an embodiment of this application. In one embodiment, as... Figure 5 As shown, step S2 includes:

[0052] Step S201: Obtain the target x-coordinate, target y-coordinate, and target z-coordinate corresponding to the passive end reference point based on the position parameters; the z-coordinate axis is the vertical direction, and the x-coordinate axis is the length direction of the feeding track.

[0053] Step S202: Control the reference point of the active end of the three-dimensional manipulator to reach the pre-aligned z coordinate above the target z coordinate. The difference between the pre-aligned z coordinate and the target z coordinate is greater than the z-axis dimension of the passive end.

[0054] Step S203: Control the reference point of the active end of the three-dimensional manipulator to reach the pre-aligned x-coordinate, and the pre-aligned x-coordinate is the same as the target x-coordinate.

[0055] Step S204: Control the reference point of the active end of the three-dimensional manipulator to reach the pre-aligned y coordinate, and the pre-aligned y coordinate is the same as the target y coordinate.

[0056] In this embodiment, the reference point of the active end is positioned above the target z-coordinate and at a distance greater than the z-axis dimension of the passive end. This ensures sufficient distance between the active end and the passive end in the z-axis direction, preventing collisions when adjusting the x-axis and y-axis coordinates of the active end. Then, the active end and the passive end are aligned along the x-axis and y-axis.

[0057] Figure 6 The diagram illustrates the steps of a method for loading an active terminal into a passive terminal according to an embodiment of this application. In one embodiment, as shown... Figure 6 As shown, step S3 includes:

[0058] Step S301: Set the z-axis descent speed in the control data of the three-dimensional robot as the reference speed.

[0059] Step S302: Based on the reference speed, control the reference point of the active end of the three-dimensional manipulator to move along the z-axis to the target z coordinate.

[0060] In this embodiment, the active end is controlled to gradually descend along the z-axis at a reference speed, thereby limiting the moving speed of the active end and causing the positioning post and telescopic boss to gradually engage with the locking groove in sequence.

[0061] Figure 7 The diagram shown illustrates the specific steps of a secondary locking mechanism according to an embodiment of this application. In one embodiment, as... Figure 4As shown, the active end 8 has a mounting hole 810, in which a detector 10 is installed. The detection end of the detector 10 is located on the wall surface of the active end 8 facing the passive end 9. The wall surface of the passive end 9 facing the active end 8 has a detection anchor point 11 that matches the mounting hole 810. The detector 10 can be a camera, which continuously or intermittently captures images of the detection anchor point 11. Marks can be set on the detection anchor point 11 for easier identification. Figure 7 As shown, step S5 includes:

[0062] Step S501: When the hydraulic system is stable, acquire the detection data of the detector on the detection anchor point within a first preset time period.

[0063] In this step, with hydraulic stabilization as the reference time point, the detector collects the detection data of the detection anchor point within the first preset time period when the hydraulic stabilization is achieved, and obtains the detection data of the relative swaying of the active end and the passive end, providing a data basis for the subsequent calculation of the swaying amplitude.

[0064] Step S502: Calculate the maximum jitter amplitude of the detection anchor point within the first preset time period based on the detection data.

[0065] In this step, the maximum jitter amplitude of the detection anchor point is calculated based on the collected detection data, the degree of sway of the active end relative to the passive end is quantified, and it is determined whether the base step length locking state meets the working condition requirements.

[0066] Step S6 includes:

[0067] Step S601: If the maximum vibration amplitude is greater than the preset amplitude, control the hydraulic system to push the telescopic boss to unlock it, and control the hydraulic system to pull back the telescopic boss with a stroke step length after fine adjustment to lock it again.

[0068] In this step, when the maximum vibration amplitude exceeds the limit, the hydraulic system is used to unlock and eliminate the invalid locking state. Then, the telescopic boss is pulled back with a fine-tuning step size for secondary locking, increasing the hydraulic locking force and effectively offsetting the gaps caused by component deformation and manufacturing errors, thus preventing the loading track and feeding track from being relatively misaligned. The fine-tuning step size can be set to a value between 1% and 10% of the base step size. For example, if the base step size is 5cm, the current pullback step size of the telescopic boss is 5cm, and the fine-tuning step size is 1mm, if the current state is that the maximum vibration amplitude after one locking is greater than the preset amplitude, then after unlocking, it will pull back (5+0.1)cm. In three-dimensional feeding machinery, the preset amplitude is allowed to be within a certain range of 0.5cm, that is, the maximum vibration amplitude of the detection anchor point along the yz plane needs to be kept below a certain value of 0.5cm; the higher the alignment accuracy of the active end and passive end required by the system, the smaller the preset amplitude value; the reference step length, fine adjustment step length and other step length data in this application are the retraction step length calculated with the telescopic boss fully extended as the initial position.

[0069] Figure 8 The diagram illustrates the specific steps involved in calculating the maximum jitter amplitude. In one embodiment, as shown... Figure 8 As shown, step S502 includes:

[0070] Step S510: At the start of the first preset time period, collect the initial coordinates of the detection anchor point.

[0071] Step S520: Within the first preset time period, generate the motion trajectory of the detection anchor point on the yz plane.

[0072] Step S530: Obtain the maximum jitter coordinate that is furthest from the initial coordinate based on the motion trajectory.

[0073] Step S540: Obtain the maximum jitter amplitude based on the maximum jitter coordinates and the initial coordinates.

[0074] In this embodiment, based on the cooperation between the detector at the active end and the detection anchor point at the passive end, the relative swaying degree between the active and passive ends is quantified through four steps: coordinate acquisition, trajectory generation, extreme value screening, and amplitude calculation. First, the initial coordinates of the detection anchor point are obtained at the start of the detection period as a reference. Then, within a first preset time period, the real-time position of the detection anchor point in the yz plane (a plane perpendicular to the length direction of the feeding track) is captured to generate a complete motion trajectory. Next, the maximum jitter coordinate, which is farthest from the initial coordinate, is selected from the trajectory. Finally, by calculating the distance between the initial coordinate and the maximum jitter coordinate, the maximum jitter amplitude, which characterizes the swaying degree of the active end relative to the passive end, is obtained, providing a quantitative basis for subsequent judgment on whether the locking state meets the standard.

[0075] Figure 9 The diagram illustrates the specific steps of repeated locking. In one embodiment, as shown... Figure 9 As shown, step S601 includes:

[0076] Step S6011: After the telescopic boss is unlocked, a waiting command is generated.

[0077] Step S6012: After the waiting time corresponding to the waiting instruction, control the hydraulic system to pull back the telescopic boss to perform repeated locking by weighting the base step length by (N-1) fine-tuning steps; N is the number of times to repeat locking.

[0078] In this embodiment, when the maximum jitter exceeds a preset range, the hydraulic system first pushes the telescopic boss to unlock, eliminating the current invalid locking state. Then, a waiting command is generated, reserving a waiting period to ensure the telescopic boss fully resets to its initial unlocking position and that the active and passive ends remain stable, avoiding secondary locking deviations caused by incomplete component return. After the waiting period ends, the pullback stroke step is calculated based on the current number of repeated locking attempts N—using a base step as a foundation, superimposed with (N-1) fine-tuning steps. The hydraulic system is then controlled to pull back the telescopic boss according to this weighted step for repeated locking. As the number of locking attempts N increases, the pullback stroke gradually increases, and the contact tightness between the telescopic boss and the locking groove increases synchronously, thereby continuously strengthening the locking force until the jitter of the active and passive ends meets the preset requirements. For example, if the baseline step is 5cm, the current pullback step of the telescopic boss is 5cm, and the fine adjustment step is 1mm, if the current state is that the maximum vibration amplitude after three lockings is greater than the preset amplitude, then after unlocking, pull back (5+0.1*2)cm.

[0079] Figure 10 The diagram illustrates the steps of adjusting the fine-tuning step size. In one embodiment, as shown... Figure 10 As shown, step S6 further includes:

[0080] Step S610: Increase the fine-tuning step size gradually according to the number of repeated locking cycles.

[0081] In this embodiment, the fine-tuning step size can be gradually increased to further improve the efficiency of repeated locking. For example, for each additional locking cycle, the fine-tuning step size is increased by a value between 1% and 10% of the base step size, meaning that the fine-tuning step size also changes dynamically with the number of locking cycles.

[0082] Figure 11 The diagram illustrates the steps of a redundant execution method. In one embodiment, as shown... Figure 11 As shown, the loading track docking method of this multi-station three-dimensional robot also includes:

[0083] Step S10: If the shaking amplitude is not triggered to be less than or equal to the preset amplitude after repeating step S6 a preset number of times, then stop executing steps S6 and S7, and execute steps S4 and S8 in sequence.

[0084] In this embodiment, if the reduction in sway amplitude is still less than or equal to the preset amplitude after repeating step S6 a preset number of times, i.e., the sway amplitude is still not improved, then there may be a fundamental structural defect that prevents the active end and the passive end from locking together. The preset number of times can be set to a value between 2 and 6 times, thereby avoiding damage to the hydraulic system from infinitely executing step S6.

[0085] Figure 12The diagram illustrates the steps of a method for fine-tuning based on real-time operating conditions. In one embodiment, as shown... Figure 12 As shown, the loading track docking method of this multi-station three-dimensional robot also includes:

[0086] Step S20: After step S8, monitor and detect the offset of the anchor point in real time.

[0087] In this step, the position of the detection anchor point is recorded before pressure holding and locking. After pressure holding and locking, and during the production process of the loading track and feeding track, the coordinates of the detection anchor point are collected. When the system is put into production, the position of the detection anchor point is monitored to obtain the offset of the detection anchor point. The offset reflects the locking stability of the system.

[0088] Step S21: If the offset amplitude is greater than the preset offset threshold, pull back the telescopic boss at the preset pull-back speed until the offset amplitude is less than or equal to the preset offset threshold.

[0089] In this step, if the offset exceeds the preset offset threshold, it indicates that the telescopic boss may be loose or experiencing other abnormal conditions, preventing the active and passive ends from locking stably. The telescopic boss is then slowly pulled back at a preset pull-back speed to gradually eliminate the loosening issue. The preset pull-back speed limits the movement speed of the telescopic boss, ensuring the offset decreases gradually rather than abruptly, preventing damage to the telescopic boss and locking groove from excessively rapid pull-back. The preset pull-back speed can be set to a value between 0 and 1 mm / s. Generally, the preset offset threshold is set to the aforementioned preset amplitude. In three-dimensional feeding machinery, the allowable range for the preset amplitude is a value below 1 cm, meaning the maximum jitter amplitude of the detection anchor point along the yz plane must be kept below 1 cm. The higher the required alignment accuracy of the active and passive ends, the smaller the preset amplitude value.

[0090] Step S22: If the telescopic boss is pulled back at a preset pull-back speed for more than the second preset time, and the offset amplitude is not triggered to be less than or equal to the preset offset threshold, then a warning message is generated.

[0091] In this step, if the pullback exceeds the second preset time and the condition of the offset amplitude being less than or equal to the preset offset threshold is not triggered, it indicates that the offset problem of the detection anchor point cannot be solved by pulling back the telescopic boss. An early warning message should be generated promptly to indicate this condition, and the pullback of the telescopic boss should be stopped to avoid damage to it. The second preset time can be set to a value between 3s and 10s.

[0092] An example of a multi-station three-dimensional robotic arm's loading track docking system is as follows:

[0093] This application also provides a loading track docking system for a multi-station three-dimensional robotic arm, applied to a feeding device, such as... Figure 2 and3 As shown, the feeding device includes a three-dimensional frame 1, on which a z-axis track 2 is arranged vertically. A three-dimensional robot arm 3 is slidably mounted on the z-axis track 2. The three-dimensional robot arm 3 has a y-axis track 4 and a translation end 5. The translation end 5 is slidably mounted on the y-axis track 4, and a feeding track 6 that slides along the x-axis is mounted on the translation end 5. The x-axis, y-axis, and z-axis are perpendicular to each other, with the x-axis being the length direction of the feeding track 6 and the z-axis being the vertical direction. The feeding track 7 of the worktable is arranged along the x-direction. The three-dimensional robot arm 3 is used to align the feeding track 6 with the feeding track 7, and the active end of the feeding track 6 is connected to the passive end of the feeding track 7.

[0094] Figure 13 The diagram shows a schematic of the loading track docking system for a multi-station three-dimensional robotic arm. In one embodiment, as shown... Figure 13 As shown, the loading track docking system of the multi-station three-dimensional robot includes: a data acquisition module 1301, a pre-alignment module 1302, an alignment module 1303, a primary locking module 1304, a repeat locking module 1305, and a locking module 1306.

[0095] The data acquisition module 1301 is configured to: execute step S1 and receive the position parameters of the passive end of the feeding track.

[0096] The pre-alignment module 1302 is communicatively connected to the data acquisition module 1301. The pre-alignment module 1302 is configured to: execute step S2 and, based on the position parameters, control the three-dimensional robot to drive the active end of the feeding track to the pre-alignment position.

[0097] The alignment module 1303 is communicatively connected to the pre-alignment module 1302. The alignment module 1303 is configured to execute step S3, control the three-dimensional manipulator to drive the active end to move downward so that its positioning post and telescopic boss are sequentially inserted into the slot of the passive end until the active end and the passive end are aligned with each other.

[0098] The primary locking module 1304 is communicatively connected to the alignment module 1303. The primary locking module 1304 is configured to: execute step S4 and control the hydraulic system to pull back the telescopic boss by a reference step length to perform primary locking.

[0099] The repeat locking module 1305 is communicatively connected to the primary locking module 1304. The repeat locking module 1305 is configured to: execute step S5, monitor the sway amplitude of the active end relative to the passive end after the hydraulic system stops working; execute step S6, if the sway amplitude is greater than the preset amplitude, control the hydraulic system to push the telescopic boss to unlock, and control the hydraulic system to pull back the telescopic boss with a stroke step length after fine adjustment of the reference step length to repeat locking; execute step S7, repeat step S6 until the sway amplitude is less than or equal to the preset amplitude.

[0100] The locking module 1306 is communicatively connected to the primary locking module 1304 and the repeat locking module 1305 respectively. The locking module 1306 is configured to execute step S8 and control the hydraulic system to maintain pressure and lock.

[0101] In this embodiment, the passive end position parameters of the feeding track are first received. The active end of the feeding track is then moved to the pre-aligned position using the three-dimensional motion of the robotic arm. The positioning pins and telescopic bosses are then sequentially engaged in the locking slots to complete the initial docking. Subsequently, the telescopic bosses are pulled back in a reference step length for a first locking, eliminating the initial gap. Considering that long-term use deformation, manufacturing errors, and excessive loads may lead to insufficient locking force and track misalignment, the shaking amplitude after the first locking is monitored. If it exceeds the standard, the locking is repeated by unlocking and increasing the telescopic boss's pullback stroke. This closed-loop control of monitoring-unlocking-extending-locking adapts to different working conditions until the shaking reaches the standard. Finally, the hydraulic system maintains pressure and locks, forming a continuous locking force, achieving a "no misalignment, no gap" docking between the active and passive ends, ensuring the stability of high-load, high-precision feeding.

[0102] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0103] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0104] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0105] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0106] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for docking a loading track for a multi-station three-dimensional robotic arm, characterized in that, include: Step S1: Receive the position parameters of the passive end of the feeding track; Step S2: Based on the position parameters, control the three-dimensional robot to drive the active end of the feeding track to the pre-aligned position; Step S3: Control the three-dimensional manipulator to drive the active end to move downward so that its positioning post and telescopic boss are sequentially inserted into the slot of the passive end until the active end and the passive end are aligned with each other. Step S4: Control the hydraulic system to pull back the telescopic boss in reference steps to perform a locking operation; Step S5: After the hydraulic system stops working, monitor the sway amplitude of the active end relative to the passive end; Step S6: If the shaking amplitude is greater than the preset amplitude, control the hydraulic system to push the telescopic boss to unlock it, and control the hydraulic system to pull back the telescopic boss with a stroke step length finely adjusted by the reference step length to lock it again. Step S7: Repeat step S6 until the sway amplitude is less than or equal to the preset amplitude; as well as Step S8: Control the hydraulic system to maintain pressure and lock; The active end is provided with a mounting hole for assembling a detector, and the passive end is provided with a detection anchor point that matches the mounting hole; step S5 includes: Step S501: When the hydraulic system is stable, acquire the detection data of the detector on the detection anchor point within a first preset time period; and Step S502: Calculate the maximum jitter amplitude of the detection anchor point within the first preset time period based on the detection data; Step S6 includes: Step S601: If the maximum vibration amplitude is greater than the preset amplitude, control the hydraulic system to push the telescopic boss to unlock it, and control the hydraulic system to pull back the telescopic boss with a stroke step length after fine adjustment to lock it again. Step S502 includes: Step S510: At the start of the first preset duration, collect the initial coordinates of the detection anchor point; Step S520: Within the first preset time period, generate the motion trajectory of the detection anchor point in the yz plane; Step S530: Obtain the maximum jitter coordinate that is furthest from the initial coordinate based on the motion trajectory; and Step S540: Obtain the maximum jitter amplitude based on the maximum jitter coordinates and the initial coordinates.

2. The method for docking the loading track of a multi-station three-dimensional robot according to claim 1, characterized in that, Step S2 includes: Step S201: Obtain the target x-coordinate, target y-coordinate, and target z-coordinate corresponding to the passive end reference point of the passive end according to the position parameters; the z-coordinate axis is the vertical direction, and the x-coordinate axis is the length direction of the feeding track; Step S202: Control the three-dimensional manipulator to drive the active end reference point of the active end to reach the pre-aligned z coordinate above the target z coordinate, the difference between the pre-aligned z coordinate and the target z coordinate is greater than the z-axis dimension of the passive end; Step S203: Control the three-dimensional manipulator to drive the active end reference point of the active end to reach the pre-aligned x-coordinate, the pre-aligned x-coordinate being the same as the target x-coordinate; and Step S204: Control the three-dimensional manipulator to drive the active end reference point of the active end to reach the pre-aligned y coordinate, the pre-aligned y coordinate is the same as the target y coordinate.

3. The method for docking the loading track of a multi-station three-dimensional robot according to claim 2, characterized in that, Step S3 includes: Step S301: Set the z-axis descent speed in the control data of the three-dimensional manipulator as the reference speed; and Step S302: Based on the reference speed, control the three-dimensional manipulator to drive the active end reference point of the active end to move along the z-axis to the target z coordinate.

4. The method for docking the loading track of a multi-station three-dimensional robot according to claim 1, characterized in that, Step S601 includes: Step S6011: After the telescopic boss is unlocked, a waiting command is generated; and Step S6012: After the waiting time corresponding to the waiting instruction, control the hydraulic system to pull back the telescopic boss by the stroke step length weighted by N-1 fine-tuning steps of the base step length to perform repeated locking; N is the number of locking repetitions.

5. The method for docking the loading track of a multi-station three-dimensional robot according to claim 4, characterized in that, Step S6 further includes: Step S610: Increase the fine-tuning step size gradually according to the number of repeated locking cycles.

6. The method for docking the loading track of a multi-station three-dimensional robot according to claim 1, characterized in that, Also includes: Step S10: If the shaking amplitude is not less than or equal to the preset amplitude after repeating step S6 a preset number of times, then stop executing step S6 and step S7, and execute step S4 and step S8 in sequence.

7. The method for docking the loading track of a multi-station three-dimensional robot according to claim 1, characterized in that, Also includes: Step S20: After step S8, monitor the offset amplitude of the detection anchor point in real time; as well as Step S21: If the offset amplitude is greater than the preset offset threshold, then pull back the telescopic boss at a preset pullback speed until the offset amplitude is less than or equal to the preset offset threshold. as well as Step S22: If the telescopic protrusion is pulled back at the preset pull-back speed for more than the second preset time, and the offset amplitude is not triggered to be less than or equal to the preset offset threshold, then a warning message is generated.

8. A loading track docking system for a multi-station three-dimensional robotic arm, characterized in that, A method for docking a loading track for a multi-station three-dimensional robotic arm according to any one of claims 1-7, the system comprising: The data acquisition module is configured to: execute step S1 and receive the position parameters of the passive end of the feeding track; The pre-alignment module is communicatively connected to the data acquisition module. The pre-alignment module is configured to: execute step S2, based on the position parameters, control the three-dimensional robot arm to drive the active end of the feeding track to the pre-alignment position; The alignment module is communicatively connected to the pre-alignment module. The alignment module is configured to: execute step S3, control the three-dimensional manipulator to drive the active end to translate downward so that its positioning post and telescopic boss are sequentially inserted into the slot of the passive end until the active end and the passive end are aligned with each other; A primary locking module is communicatively connected to the alignment module. The primary locking module is configured to: execute step S4 and control the hydraulic system to pull back the telescopic boss by a reference step length to perform a primary locking. A repeat locking module, communicatively connected to the primary locking module, is configured to: execute step S5, after the hydraulic system stops working, monitor the sway amplitude of the active end relative to the passive end; execute step S6, if the sway amplitude is greater than a preset amplitude, control the hydraulic system to push the telescopic boss to unlock, and control the hydraulic system to pull back the telescopic boss with a stroke step length finely adjusted from the reference step length to repeat locking; execute step S7, repeat step S6 until the sway amplitude is less than or equal to the preset amplitude; and The locking module is communicatively connected to the primary locking module and the repetitive locking module respectively. The locking module is configured to: execute step S8 and control the hydraulic system to maintain pressure and lock.

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