Universal combined manipulator equipment and control method thereof

Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to universal combined manipulator equipment and a control method thereof. The universal combined manipulator equipment comprises an X-axis driving mechanism and two Y-axis driving mechanisms, and the positioning tool is arranged on the X-axis driving mechanism and is configured to reciprocate between a first position and a second position in the X-axis direction under the driving of the X-axis driving mechanism; the two Y-axis driving mechanisms are arranged in parallel and correspond to the first position and the second position respectively; a feeding mechanical arm capable of moving in the Y-axis direction is arranged on the Y-axis driving mechanism corresponding to the first position, and a discharging mechanical arm capable of moving in the Y-axis direction is arranged on the Y-axis driving mechanism corresponding to the second position. By means of the structure, the possibility that the two mechanical arms interfere with each other is thoroughly eliminated from the physical space and the operation time sequence, the efficient and reliable automatic feeding and discharging process is achieved, then the turnover efficiency of materials is improved, and the production efficiency of products is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology, and specifically relates to a general-purpose combined robotic arm device and its control method. Background Technology

[0002] In the process of intelligent manufacturing, raw materials or semi-finished products are generally transferred between processes using various types of robotic arms. The operating speed and stability of the robotic arms are related to the overall efficiency and quality of the production line. Currently, the highest speed of the robotic arms used is generally below 800 mm / s. A clearance space needs to be set between the two sets of robotic arms for loading and unloading, resulting in low efficiency. The main reasons are the limitations of the transmission method and mechanical structure. Firstly, the precision positioning mechanism is located between the two sets of robotic arms, and the two sets of robotic arms are on the same line. Secondly, the transmission method of servo motors driving mechanical lead screws, synchronous belts, or reducers is commonly used. When the operating speed is too high, the vibration value increases with the increase of inertia, which affects the stability of the entire equipment and is not conducive to the precision or quality of products. To a certain extent, this restricts the improvement of production efficiency and quality in the domestic manufacturing industry, especially small and medium-sized enterprises.

[0003] Therefore, this invention is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a universal combined robotic arm device and its control method, so as to at least partially solve the above-mentioned technical problems.

[0005] The first aspect of this invention provides a universal combined robotic arm device, comprising: X-axis drive mechanism; The positioning fixture is mounted on the X-axis drive mechanism and configured to reciprocate between a first position and a second position along the X-axis direction under the drive of the X-axis drive mechanism. Two parallel Y-axis drive mechanisms are respectively set at the first position and the second position; each Y-axis drive mechanism at the first position is equipped with a loading robot that can move along the Y-axis direction, and the Y-axis drive mechanism at the second position is equipped with a unloading robot that can move along the Y-axis direction. The loading robot is configured to install the material picked up from the self-loading position onto the positioning fixture when the positioning fixture moves to the first position. The unloading robot is configured to remove and transfer the material on the positioning fixture to the unloading position when the positioning fixture moves to the second position.

[0006] The universal combined robotic arm device provided by this invention may also have the following additional technical features: In some specific embodiments of the present invention, the X-axis drive mechanism and the Y-axis drive mechanism are both linear motor drive mechanisms.

[0007] In some specific embodiments of the present invention, both the robotic arm and the unloading robotic arm are loading and unloading mechanisms including a Z-axis drive unit.

[0008] In some specific embodiments of the present invention, each Y-axis drive mechanism is provided with at least one loading robot or unloading robot, and when there are multiple loading robots or unloading robots, the multiple loading robots or unloading robots are driven individually or linked together.

[0009] In some specific embodiments of the present invention, the loading and unloading mechanism is a suction cup gripper, a pneumatic finger gripper, or a servo electric gripper.

[0010] In some specific embodiments of the present invention, a mounting platform is also included, on which both the X-axis drive mechanism and the Y-axis drive mechanism are mounted.

[0011] And / or, both the X-axis drive mechanism and the Y-axis drive mechanism are equipped with safety limit switches that restrict their axial travel.

[0012] In some specific embodiments of the present invention, a control system is also included. The control system is electrically connected to the X-axis drive mechanism, the Y-axis drive mechanism, the loading robot and the unloading robot, respectively, and is configured to control the positioning fixture to move sequentially between the first position and the second position, and to coordinate the working sequence of the loading robot and the unloading robot.

[0013] In some specific embodiments of the present invention, a material detection unit is further included, which is electrically connected to the control system and is used to feed back material status information on the positioning fixture to the control system.

[0014] A second aspect of the present invention also provides a control method for a universal combined robotic arm device, implemented using any one of the universal combined robotic arm devices described above, comprising the following steps: S1: Initialization step, control the positioning fixture, loading robot and unloading robot to move to the initial position, and initialize the state of the loading robot and unloading robot. The initial position of the positioning fixture is the first position, the initial position of the loading robot is the material picking position, and the initial position of the unloading robot is the second position. S2: Material handling steps: Control the loading robot to pick up the material from the picking position and install it into the positioning fixture, and then return to the picking position; control the positioning fixture to move to the second position when the material is installed; control the unloading robot to pick up the material from the positioning fixture, and after the unloading robot picks up the material, control the positioning fixture to return to the first position, and control the unloading robot to transport the material to the unloading position for unloading and then return to the initial position; S3: Repeat step S2; S4: Anomaly monitoring and handling steps. During the initialization and material handling steps, the operating status of the loading robot, positioning fixture, and unloading robot is monitored. If an operational anomaly is detected, the current step is interrupted and the corresponding anomaly handling procedure is executed.

[0015] In some specific embodiments of the present invention, in the initialization step and the material handling step, the positioning fixture, the loading robot and the unloading robot are determined to have moved to the initial position based on the safety limit switches of the X-axis drive mechanism and the Y-axis drive mechanism, and the material detection unit is used to determine whether there is material on the positioning fixture.

[0016] The universal combined robotic arm device provided in this invention separates the loading and unloading robotic arms onto two parallel Y-axis drive mechanisms, and sets up a positioning fixture between the two Y-axis drive mechanisms that can move back and forth between a first position and a second position under the action of the X-axis drive mechanism. This makes the robotic arms used for loading and unloading independent of each other, thereby completely eliminating the possibility of interference between the loading and unloading robotic arms in terms of physical space and operation sequence. This achieves an efficient and reliable automated loading and unloading process, thereby improving material turnover efficiency and significantly improving product production efficiency. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the general-purpose combined robotic arm device in an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the X-axis drive mechanism and positioning fixture; Figure 3 for Figure 1 Schematic diagram of the Y-axis drive mechanism; Figure 4 This is a partial structural diagram of the loading robot in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 100-General-purpose combined robotic arm equipment; 10-Mounting platform, 20-X-axis drive mechanism, 30-Y-axis drive mechanism, 41-Loading robot, 42-Unloading robot, 43-Z-axis drive unit, 44-Loading and unloading mechanism, 50-Positioning fixture. Detailed Implementation

[0020] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0021] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0022] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] Reference Figures 1-4 As shown, the first aspect of the present invention provides a general-purpose combined robotic arm device 100, including an X-axis drive mechanism 20 and two Y-axis drive mechanisms 30. A positioning fixture 50 is disposed on the X-axis drive mechanism 20 and configured to reciprocate between a first position and a second position along the X-axis direction under the drive of the X-axis drive mechanism 20. The two Y-axis drive mechanisms 30 are arranged in parallel and respectively correspond to the first position and the second position. A loading robotic arm 41 that can move along the Y-axis direction is provided on the Y-axis drive mechanism 30 corresponding to the first position, and a unloading robotic arm 42 that can move along the Y-axis direction is provided on the Y-axis drive mechanism 30 corresponding to the second position. The loading robotic arm 41 is configured to install the material gripped by the self-grabbing position onto the positioning fixture 50 when the positioning fixture 50 moves to the first position. The unloading robotic arm 42 is configured to disassemble the material on the positioning fixture 50 and transfer it to the unloading position when the positioning fixture 50 moves to the second position.

[0025] Specifically, the X-axis drive mechanism 20 has the ability to drive along the X-axis. The positioning fixture 50 is mounted on the X-axis drive mechanism 20 and can reciprocate between a first position and a second position along the X-axis under the drive of the X-axis drive mechanism 20, wherein the first position is the loading position and the second position is the unloading position. There are two Y-axis drive mechanisms 30, each with the ability to drive along the Y-axis (perpendicular to the X-axis). They are adapted to drive the loading robot 41 or unloading robot 42 mounted on them to move along the Y-axis, respectively. The loading robot 41 is set at the first position, that is, its travel along the Y-axis passes through the first position and the picking position. When the positioning fixture 50 is in the first position, it can grab the material from the picking position and move it along the Y-axis to the first position to perform a material installation operation on the positioning fixture 50, thereby realizing the loading operation. The unloading robot 42 on the other Y-axis drive mechanism 30 is set at the second position, that is, its travel along the Y-axis passes through the second position and the unloading position. When the positioning fixture 50 is in the second position, it can move it along the Y-axis to the second position and perform a material disassembly operation on the positioning fixture 50, that is, grab the material on the positioning fixture 50 and transport it to the unloading position, thereby realizing the unloading operation.

[0026] The universal combined robotic arm device 100 provided in this embodiment of the invention separates the loading robotic arm 41 and the unloading robotic arm into two parallel Y-axis drive mechanisms 30, and sets a positioning fixture 50 between the two Y-axis drive mechanisms 30 that can move back and forth between the first position and the second position under the action of the X-axis drive mechanism 20. In this way, the robotic arms used for loading and unloading are independent of each other, thereby completely eliminating the possibility of interference between the loading robotic arm 41 and the unloading robotic arm 42 in terms of physical space and operation sequence, realizing an efficient and reliable automated loading and unloading process, thereby improving the turnover efficiency of materials and greatly improving the production efficiency of products.

[0027] In some embodiments, the X-axis drive mechanism 20 and the Y-axis drive mechanism 30 are both linear motor drive mechanisms.

[0028] Specifically, the linear motor drive mechanism has the characteristics of simple structure, high speed, low inertia, stable control, convenient adjustment and maintenance, and low cost. Therefore, it can further improve the response speed of the general-purpose combined manipulator 100, thereby improving the turnover efficiency of materials and significantly improving the production efficiency of products.

[0029] For example, the stroke of the X-axis drive mechanism 20 can be selected in the range of 100-500mm according to the conveying and processing specifications, and the stroke of the Y-axis drive mechanism 30 can be selected in the range of 800-9000mm according to the conveying and processing specifications, and can achieve a positioning accuracy of 0.001mm.

[0030] In some embodiments, the loading robot 41 and the unloading robot 42 are both loading / unloading mechanisms 44 including a Z-axis drive unit 43.

[0031] Specifically, the Z-axis drive unit 43 can be a structure where a linear motor or servo motor is directly connected to a lead screw, and it has the driving capability along the Z-axis. The loading and unloading mechanism 44 is set on the Z-axis drive unit 43 and can move along the Z-axis under its drive, thereby realizing the installation and unloading of materials.

[0032] For example, the travel of the Z-axis drive unit 43 can be selected from 50mm to 800mm.

[0033] In some embodiments, each Y-axis drive mechanism 30 is provided with at least one loading robot 41 or unloading robot 42, and when there are multiple loading robots 41 or unloading robots 42, the multiple loading robots 41 or unloading robots 42 are driven individually or linked together.

[0034] Specifically, when the installation or disassembly process can be completed by a single robotic arm, only one robotic arm can be set up. However, when the installation or disassembly process requires the coordinated operation of multiple robotic arms, multiple robotic arms can be set up accordingly. These multiple robotic arms can be driven individually or linked together. The specific settings can be adjusted according to the needs, and no limitations are imposed here.

[0035] In some embodiments, the loading / unloading mechanism 44 is a suction cup gripper, a pneumatic finger gripper, or a servo-electric gripper.

[0036] For example, the loading / unloading mechanism 44 is a suction cup gripper, which is driven by a vacuum pump to achieve loading and unloading. For example, the loading / unloading mechanism 44 is a pneumatic finger gripper, which is driven by a cylinder to achieve loading and unloading. For example, the loading / unloading mechanism 44 is a servo-electric gripper, that is, the electric gripper is driven by a servo motor to achieve loading and unloading. In practical applications, any drive structure can be selected as needed.

[0037] In some embodiments, a mounting platform 10 is also included, on which both the X-axis drive mechanism 20 and the Y-axis drive mechanism 30 are mounted.

[0038] Specifically, the mounting platform 10 is adapted to provide space for the installation of the X-axis drive mechanism 20 and the Y-axis drive mechanism 30, thereby achieving the aforementioned positional relationship. Furthermore, the mounting platform 10 may include a support portion, a fixed base plate, and feet. If necessary, a protective mechanism may also be installed on the mounting platform 10 to ensure the smooth operation of the aforementioned structures.

[0039] In some embodiments, both the X-axis drive mechanism 20 and the Y-axis drive mechanism 30 are provided with safety limit switches that restrict their axial travel.

[0040] Specifically, each of the X-axis drive mechanism 20 and the Y-axis drive mechanism 30 is equipped with a pair of safety limit switches. The pair of safety limit switches are located at the origin and the end point of the formation, respectively. On the one hand, they are used to limit the stroke of the positioning fixture 50, the loading robot 41, and the unloading robot 42 to ensure the reliability of their working process. On the other hand, they are used to obtain the position of the positioning fixture 50, the loading robot 41, and the unloading robot 42, thereby assisting in controlling the axial movement of the positioning fixture 50, the loading robot 41, and the unloading robot 42.

[0041] In some embodiments, a control system is also included, which is electrically connected to the X-axis drive mechanism 20, the Y-axis drive mechanism 30, the loading robot 41 and the unloading robot 42, respectively, and is configured to control the positioning fixture 50 to move sequentially between a first position and a second position, and to coordinate the working sequence of the loading robot 41 and the unloading robot 42.

[0042] Specifically, the control system includes at least a main controller and its supporting human-machine interface, operation control buttons, network switch, etc. The main controller is an industrial PC or a PLC controller or microcontroller configured according to requirements. It is electrically connected to the linear motors and safety limit switches of the X-axis drive mechanism 20 and Y-axis drive mechanism 30, and electrically connected to the Z-axis drive unit 43 of the loading robot 41 and unloading robot 42. It is also electrically connected to the loading and unloading mechanism 44 of the loading robot 41 and unloading robot 42. The human-machine interface can realize personalized settings such as linear motor working position, running speed, acceleration and deceleration time, real-time status monitoring, abnormal self-diagnosis alarm and historical data query, remote network control and adjustment, etc. It can meet the personalized management or technical needs of personnel in different positions such as production, equipment, process and quality while satisfying equipment control and monitoring.

[0043] Based on the control system, this embodiment realizes the automated control of a general-purpose combined robotic arm device 100.

[0044] In some embodiments, the positioning fixture 50 is also provided with a material detection unit, which is electrically connected to the control system and is used to feed back material status information on the positioning fixture 50 to the control system.

[0045] Specifically, the material detection unit can be a photoelectric switch, with two photoelectric switches. One photoelectric switch is installed on the Y-axis drive mechanism 30 corresponding to the first position and is used to detect whether the material moved to the positioning fixture 50 at the first position is in place, i.e., to detect the material status information at the first position. The other photoelectric switch is installed on the Y-axis drive mechanism 30 corresponding to the second position and is used to detect whether the material moved to the positioning fixture 50 at the second position is in place, i.e., to detect the material status information at the second position. The control system is electrically connected to the two photoelectric switches respectively and is used to acquire the material status information at the first and second positions, and then arrange subsequent processes based on the aforementioned material status information.

[0046] Based on the above settings, the universal combined robotic arm device 100 provided by the present invention has the advantages of fast operation speed, stable performance, high efficiency, low cost, and simple and practical system. It can meet and improve the automation and intelligence level and production efficiency in the manufacturing process of industry products. It has a wide range of applications and has a positive and significant promoting effect on the upgrading of industry.

[0047] A second aspect of the present invention also provides a control method for a universal combined robotic arm device 100, implemented by any one of the universal combined robotic arm devices 100 described above, comprising the following steps: S1: Initialization step, control the positioning fixture 50, the loading robot 41 and the unloading robot 42 to move to the initial position, and initialize the state of the loading robot 41 and the unloading robot 42. The initial position of the positioning fixture 50 is the first position, the initial position of the loading robot 41 is the material picking position, and the initial position of the unloading robot 42 is the second position. S2: Material handling steps: Control the loading robot 41 to pick up the material from the picking position and install it into the positioning fixture 50, and then return to the picking position; control the positioning fixture 50 to move to the second position when the material is installed; control the unloading robot 42 to pick up the material from the positioning fixture 50, and after the unloading robot 42 picks up the material, control the positioning fixture 50 to return to the first position, and control the unloading robot 42 to transport the material to the unloading position for unloading and then return to the initial position; S3: Repeat step S2; S4: Abnormal monitoring and handling steps. During the initialization and material handling steps, the operating status of the loading robot 41, positioning fixture 50 and unloading robot 42 is monitored. If an abnormality is detected, the current step is interrupted and the corresponding abnormal handling procedure is executed.

[0048] Based on the above control methods, the general-purpose combined robotic arm equipment 100 has the advantages of fast operation speed, stable performance, high efficiency, low cost, and simple and practical system. In this way, it can meet and improve the automation and intelligence level and production efficiency of the industry's product manufacturing process. It has a wide range of applications and plays a positive and significant role in promoting the upgrading of the industry.

[0049] In some embodiments, during the initialization step and the material handling step, the positioning fixture 50, the loading robot 41 and the unloading robot 42 are determined to have moved to their initial positions based on the safety limit switches of the X-axis drive mechanism 20 and the Y-axis drive mechanism 30, and the presence of material on the positioning fixture 50 is determined based on the material detection unit.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A general-purpose combined robotic arm device, characterized in that, include: X-axis drive mechanism; The positioning fixture is mounted on the X-axis drive mechanism and configured to reciprocate between a first position and a second position along the X-axis direction under the drive of the X-axis drive mechanism. Two parallel Y-axis drive mechanisms are respectively set at the first position and the second position; the Y-axis drive mechanism corresponding to the first position is provided with a loading robot that can move along the Y-axis direction, and the Y-axis drive mechanism corresponding to the second position is provided with a unloading robot that can move along the Y-axis direction. The loading robot is configured to install the material picked up from the self-loading position onto the positioning fixture when the positioning fixture moves to the first position. The unloading robot is configured to remove and transfer the material on the positioning fixture to the unloading position when the positioning fixture moves to the second position.

2. The universal combined robotic arm device according to claim 1, characterized in that, Both the X-axis drive mechanism and the Y-axis drive mechanism are linear motor drive mechanisms.

3. The universal combined robotic arm device according to claim 1, characterized in that, Both the loading robot and the unloading robot are loading / unloading mechanisms that include a Z-axis drive unit.

4. The universal combined robotic arm device according to claim 3, characterized in that, Each Y-axis drive mechanism is equipped with at least one loading robot or unloading robot, and when there are multiple loading robots or unloading robots, the multiple loading robots or unloading robots are driven individually or linked together.

5. The universal combined robotic arm device according to claim 3, characterized in that, The loading and unloading mechanism is a suction cup gripper, a pneumatic finger gripper, or a servo electric gripper.

6. The universal combined robotic arm device according to claim 1, characterized in that, It also includes a mounting platform, on which both the X-axis drive mechanism and the Y-axis drive mechanism are mounted; And / or, both the X-axis drive mechanism and the Y-axis drive mechanism are equipped with safety limit switches that restrict their axial travel.

7. The universal combined robotic arm device according to claim 1, characterized in that, It also includes a control system, which is electrically connected to the X-axis drive mechanism, the Y-axis drive mechanism, the loading robot and the unloading robot, and is configured to control the positioning fixture to move sequentially between the first position and the second position, and to coordinate the working sequence of the loading robot and the unloading robot.

8. The universal combined robotic arm device according to claim 7, characterized in that, It also includes a material detection unit, which is electrically connected to the control system and is used to feed back the material status information on the positioning fixture to the control system.

9. A control method for a general-purpose combined robotic arm device, characterized in that, The general-purpose combined robot arm device according to any one of claims 1-8 is implemented by the following steps: S1: initialization step, controlling the positioning fixture, the loading robot arm and the unloading robot arm to move to the initial position, and initializing the state of the loading robot arm and the unloading robot arm, the initial position of the positioning fixture arm is the first position, the initial position of the loading robot arm arm is the material picking position, and the initial position of the unloading robot arm arm arm is the second position. S2: Material handling steps: Control the loading robot to pick up the material from the picking position and install it into the positioning fixture, and then return to the picking position; control the positioning fixture to move to the second position when the material is installed; control the unloading robot to pick up the material from the positioning fixture, and after the unloading robot picks up the material, control the positioning fixture to return to the first position, and control the unloading robot to transport the material to the unloading position for unloading and then return to the initial position; S3: Repeat step S2; S4: Anomaly monitoring and handling steps. During the initialization and material handling steps, the operating status of the loading robot, positioning fixture, and unloading robot is monitored. If an operational anomaly is detected, the current step is interrupted and the corresponding anomaly handling procedure is executed.

10. The control method for the universal combined robotic arm device according to claim 9, characterized in that, In the initialization and material handling steps, the safety limit switches of the X-axis drive mechanism and the Y-axis drive mechanism determine whether the positioning fixture, the loading robot and the unloading robot have moved to their initial positions, and the material detection unit determines whether there is material on the positioning fixture.

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