A rotary table cooperates with an automatic loading and unloading robot

Abstract

The application discloses a kind of rotary workbench coordination automatic feeding and discharging robot, belong to automatic feeding and discharging robot technical field, including protective net frame, the inside of the protective net frame is provided with fixed frame, mechanical arm is installed on the fixed frame, visual detector is installed on the side of the fixed frame.The application is by being provided with fixed conveying belt and lifting conveying belt on fixed frame, cooperate the transmission structure of driving motor, threaded rod and guide rod, the height of lifting conveying belt is adjustable, can be according to production line process, material specification flexible adjustment conveying height, with the material taking and placing action of mechanical arm accurate link;While visual detector, mechanical arm and conveying device are integrated on the fixed frame inside the protective net frame, cooperate the unified control of controller, realize the integration linkage of material detection, positioning, transfer, greatly improve the efficiency and accuracy of material transfer, adapt the flexible production demand of multiple-specification product.

Description

Technical Field

[0001] This invention belongs to the field of automatic loading and unloading robot technology, specifically referring to a rotary table-coordinated automatic loading and unloading robot. Background Technology

[0002] In automated production lines such as machining and parts manufacturing, automated loading and unloading robots are core equipment for material transfer and process integration. Their collaborative operation with conveying and detection devices directly affects the production line's efficiency, material transfer accuracy, and operational safety. Traditional loading and unloading operations often rely on manual operation or single-function mechanical devices, which not only suffer from high labor costs, low efficiency, and susceptibility to human error, but also struggle to meet the flexible production needs of products with diverse specifications.

[0003] While existing technologies include automated loading and unloading robots, most suffer from insufficient coordination in their mechanical design. For instance, conveying devices are often set at a fixed height, making it impossible to adjust the height according to production line processes and material specifications, resulting in poor coordination with the robotic arm's picking and placing actions. Furthermore, the integration of vision inspection, robotic arms, and conveying devices is low, lacking a unified control and linkage mechanism, which easily leads to material positioning deviations and picking / placing errors. Simultaneously, the operation and debugging processes of existing automated loading and unloading robots lack standardized procedures. Pre-start equipment checks, access control, and collision detection lack unified execution standards, resulting in low accuracy and poor adaptability in point-to-point teaching, making it difficult to quickly adapt to different products. Moreover, the equipment backup and recovery process is cumbersome, and maintenance lacks a systematic approach, easily leading to production line downtime due to program loss or equipment component failure, further reducing the equipment's operational stability and the production line's continuous operation capability.

[0004] In addition, the safety protection design of traditional automatic loading and unloading robots is not perfect, and there is no standardized method for setting safety areas. During the operation of the robotic arm, it is easy to collide with surrounding equipment and materials, which poses potential risks to equipment damage and safe production. The status display of the teach pendant is not comprehensive, and the operator cannot grasp the robot's working mode, running status and power status in real time, which can easily lead to equipment failure due to operational misjudgment.

[0005] In summary, existing automated loading and unloading robots have significant shortcomings in terms of structural coordination, standardized operation, precise debugging, operational stability, and operational safety, and can no longer meet the needs of modern automated production lines for efficient, flexible, and safe production. Summary of the Invention

[0006] In view of the above situation and to overcome the shortcomings of the existing technology, the present invention provides a rotary table collaborative automatic loading and unloading robot, which effectively solves the problems currently on the market.

[0007] The technical solution adopted by this invention is as follows: This invention proposes a rotary worktable collaborative automatic loading and unloading robot, including a protective mesh frame, a fixed frame inside the protective mesh frame, a robotic arm mounted on the fixed frame, a vision detector mounted on one side of the fixed frame, a fixed conveyor belt at the bottom of the fixed frame, a lifting conveyor belt inside the fixed frame, a controller mounted on the protective mesh frame, a drive motor mounted on the fixed frame, a threaded rod connected to the output end of the drive motor, and a guide rod mounted on the fixed frame, which is connected to the lifting conveyor belt.

[0008] Furthermore, the robotic arm is fixedly connected to the fixed frame, and the vision detector is fixedly connected to the fixed frame.

[0009] Furthermore, the controller is detachably connected to the protective mesh frame, and the drive motors are symmetrically arranged on the fixed frame and fixedly connected to the fixed frame.

[0010] Furthermore, the threaded rod passes through and is rotatably connected to the fixed frame, the threaded rod is fixedly connected to the output end of the drive motor, and the guide rod is symmetrically arranged on the fixed frame and is fixedly connected to the fixed frame.

[0011] Furthermore, the lifting conveyor belt is slidably connected to the guide rod, and the lifting conveyor belt is threadedly connected to the threaded rod.

[0012] Furthermore, the startup operation method for the automatic loading and unloading robot includes the following steps:

[0013] S1. Equipment Inspection and Start-up: Check the robot's position and handle materials or racks that pose a risk of collision; check the air pump pressure and the robot's power button status, and turn on the main power switch until the robot's power indicator light illuminates;

[0014] S2. Teach pendant connection: After the robot is powered on, the teach pendant will automatically connect via the WIFI icon in the lower left corner. The red slash will disappear after a successful connection. If it does not connect automatically, click the icon to enter the robot connection interface and complete the manual connection.

[0015] S3. Switching Robot Permissions: Click the permission option in the lower right corner of the teach pendant, select administrator, enter the password 12345 and click login to complete the switch from default operator permissions to administrator permissions;

[0016] S4. Pre-run program check: Check the correctness of the currently loaded project and confirm that the robot program speed is 100%;

[0017] S5. Collision Detection Check: Confirm that the robot's collision detection function is enabled and that the sensitivity of each axis meets the requirements of axis 1 ≥ 60%, axis 2 ≥ 80%, axis 3 ≥ 100%, axis 4 ≥ 140%, axis 5 ≥ 140%, and axis 6 ≥ 140%. If it is not enabled, enable it in time.

[0018] S6. IO signal check: Check the DI signal status in the custom production interface. If the signal is abnormal, check the air source pressure, DI / DO terminal connection status, and sensor wiring harness integrity and tightness in sequence.

[0019] S7. Working Mode Switching: Click the mode switching button on the HMI interface, and click "OK" in the pop-up confirmation interface to switch the robot from manual mode to automatic mode. After switching, perform subsequent operations through the external touch screen.

[0020] Furthermore, the bottom of the teach pendant is equipped with a status display module, which can display the robot's working mode, running status, and power-on status respectively. The working mode includes manual mode and automatic mode, the running status includes idle, program running, error, Jog mode, and drag mode, and the power-on status includes power-on, power-off, emergency stop, and safety door open status.

[0021] Furthermore, the point-to-point teaching method for the automated loading and unloading robot includes the following steps:

[0022] A. Vision calibration and reference point debugging: First, complete the calibration with the vision system, debug the reference points pick_bcp and pick_bcp2 in the loading area, adjust the robot to the appropriate position, click on the position update, and send the pose to the vision system;

[0023] B. Finished Product Picking Point Debugging: Adjust the robot to the finished product picking posture and open the gripper by using the transition points pickGD, phome, and put1GD in the loading area of ​​the point list. Adjust the finished product picking point to the middle position of the product, trigger the gripper to clamp and verify that the product has not moved. Then update the finished product picking point pick_cp or pick_cp2, where pick_cp corresponds to gripper 1 and pick_cp2 corresponds to gripper 2.

[0024] C. Debugging the semi-finished product placement point: Adjust the robot to the semi-finished product placement posture through put1GD in the point list. After debugging to the appropriate position, trigger the gripper to clamp and verify that the product has not moved. Update the semi-finished product placement point put_bcp or put_bcp2, where put_bcp corresponds to gripper No. 1 and put_bcp2 corresponds to gripper No. 2.

[0025] D. NG Zone Position Debugging: Adjust the robot to the semi-finished product placement posture using put1GD, manually move it above the NG zone and update the transition point Put_NGGD, then move it to the first position of the NG tray, trigger the gripper to clamp and verify that the product has not moved, then update the NG placement position NG.

[0026] E. Debugging of spare parts pick-up points: Adjust the robot's posture above the spare parts pick-up point using pickGD, phome, put1GD, and pick_blpGD in the point list. Manually move the robot to the spare parts product and adjust the posture accordingly. After opening the gripper, trigger clamping and verify that the product has not moved. Update the spare parts pick-up points Lpick_bp and Rpick_bp, where Lpick_bp corresponds to gripper number 1 and Rpick_bp corresponds to gripper number 2. There are 9 spare parts pick-up points on both the left and right sides, and they correspond one-to-one.

[0027] F. Finished Product Feeding Point Debugging: The finished product feeding point is determined by rotating the semi-finished product picking point 180°. pick_bcp corresponds to picking points 1-9 in the feeding area for gripper 1, and pick_bcp2 corresponds to picking points 10-18 in the feeding area for gripper 2. During normal picking and feeding, gripper 1 picks up material and gripper 2 feeds material and gripper 1 feeds material. When replenishing material from the replenishment bin, the gripper is used for picking up and feeding material. During picking up and feeding material, the same gripper is used for picking up and feeding material and the gripper is not rotated 180°. The point offset in the program is adjusted according to the position of the hopper.

[0028] G. Adjustment of semi-finished product picking points in the feeding hopper: Select the point to be modified in the point list, click modify, adjust the X and Y coordinate values ​​and confirm. Picking points 1-9 correspond to pick_bcp, and picking points 10-18 correspond to pick_bcp2.

[0029] H. Program Verification: After debugging, save the robot program and run it from scratch at low speed to check if the robot's operation is normal.

[0030] Furthermore, during the point adjustment, the point offset in the X direction is achieved by modifying the value of ccd_xyc[1], and the point offset in the Y direction is achieved by modifying the value of ccd_xyc[2].

[0031] The beneficial effects achieved by the present invention using the above structure are as follows:

[0032] (1) By setting a fixed conveyor belt and a lifting conveyor belt on a fixed frame, and with the transmission structure of the drive motor, threaded rod and guide rod, the height of the lifting conveyor belt can be adjusted. The conveying height can be flexibly adjusted according to the production line process and material specifications, and it can be precisely connected with the picking and putting of materials by the robotic arm. At the same time, the vision detector, robotic arm and conveying device are integrated on the fixed frame inside the protective net frame. With the unified control of the controller, the integrated linkage of material detection, positioning and transfer can be realized, which greatly improves the efficiency and accuracy of material transfer and adapts to the flexible production needs of multi-specification products.

[0033] (2) A unified and standardized power-on operation method was established, which formed a standardized procedure from equipment inspection and power-on, teach pendant connection, permission switching, program inspection, collision detection, IO signal inspection, and mode switching. The operation requirements and judgment criteria of each link were clarified, such as the sensitivity threshold of each axis for collision detection and the program speed reference value, which effectively avoided equipment failure and safety accidents caused by non-standard operation. At the same time, the status display module of the teach pendant can fully display the robot's working mode, running status and power-on status, so that the operator can keep abreast of the equipment status in real time and reduce the operation error rate.

[0034] (3) The point teaching method has established a step-by-step debugging process, from visual calibration and benchmark debugging to precise debugging of each point, such as taking finished products, placing semi-finished products, placing NG areas, taking spare parts, and placing finished products. It clarifies the point correspondence of different grippers and the debugging verification standards. Furthermore, by modifying the values ​​of the ccd_xyc array, the point offset in the X and Y directions is realized. Combined with the standardized setting method of the safety area, it not only improves the accuracy of point debugging, but also quickly completes the point adaptation of different products and different silos. It solves the problems of low accuracy and poor adaptability of traditional debugging methods and greatly shortens the debugging time for product changeover. Attached Figure Description

[0035] Figure 1 This invention proposes a three-dimensional rotary table-assisted automatic loading and unloading robot. Figure 1 ;

[0036] Figure 2 This invention proposes a three-dimensional rotary table-assisted automatic loading and unloading robot. Figure 2 .

[0037] The components include: 1. Protective net frame; 2. Fixed frame; 3. Robotic arm; 4. Vision detector; 5. Fixed conveyor belt; 6. Lifting conveyor belt; 7. Controller; 8. Drive motor; 9. Threaded rod; 10. Guide rod.

[0038] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] like Figures 1-2 As shown, this invention proposes a rotary workbench collaborative automatic loading and unloading robot, including a protective mesh frame 1, a fixed frame 2 inside the protective mesh frame 1, a robotic arm 3 mounted on the fixed frame 2, a vision detector 4 mounted on one side of the fixed frame 2, a fixed conveyor belt 5 at the bottom of the fixed frame 2, a lifting conveyor belt 6 inside the fixed frame 2, a controller 7 mounted on the protective mesh frame 1, a drive motor 8 mounted on the fixed frame 2, a threaded rod 9 connected to the output end of the drive motor 8, and a guide rod 10 mounted on the fixed frame 2, and the guide rod 10 is connected to the lifting conveyor belt 6.

[0042] The robotic arm 3 is fixedly connected to the fixed frame 2, and the vision detector 4 is fixedly connected to the fixed frame 2.

[0043] The controller 7 is detachably connected to the protective mesh frame 1, and the drive motor 8 is symmetrically arranged on the fixed frame 2, and the drive motor 8 is fixedly connected to the fixed frame 2.

[0044] The threaded rod 9 passes through and rotatably connects to the fixed frame 2. The threaded rod 9 is fixedly connected to the output end of the drive motor 8. The guide rod 10 is symmetrically arranged on the fixed frame 2 and is fixedly connected to the fixed frame 2.

[0045] The lifting conveyor belt 6 is slidably connected to the guide rod 10, and the lifting conveyor belt 6 is threadedly connected to the threaded rod 9.

[0046] The startup operation method for the automatic loading and unloading robot includes the following steps:

[0047] S1. Equipment Inspection and Start-up: Check the robot's position and handle materials or racks that pose a risk of collision; check the air pump pressure and the robot's power button status, and turn on the main power switch until the robot's power indicator light illuminates;

[0048] S2. Teach pendant connection: After the robot is powered on, the teach pendant will automatically connect via the WIFI icon in the lower left corner. The red slash will disappear after a successful connection. If it does not connect automatically, click the icon to enter the robot connection interface and complete the manual connection.

[0049] S3. Switching Robot Permissions: Click the permission option in the lower right corner of the teach pendant, select administrator, enter the password 12345 and click login to complete the switch from default operator permissions to administrator permissions;

[0050] S4. Pre-run program check: Check the correctness of the currently loaded project and confirm that the robot program speed is 100%;

[0051] S5. Collision Detection Check: Confirm that the robot's collision detection function is enabled and that the sensitivity of each axis meets the requirements of axis 1 ≥ 60%, axis 2 ≥ 80%, axis 3 ≥ 100%, axis 4 ≥ 140%, axis 5 ≥ 140%, and axis 6 ≥ 140%. If it is not enabled, enable it in time.

[0052] S6. IO signal check: Check the DI signal status in the custom production interface. If the signal is abnormal, check the air source pressure, DI / DO terminal connection status, and sensor wiring harness integrity and tightness in sequence.

[0053] S7. Working Mode Switching: Click the mode switching button on the HMI interface, and click "OK" in the pop-up confirmation interface to switch the robot from manual mode to automatic mode. After switching, perform subsequent operations through the external touch screen.

[0054] The bottom of the teach pendant is equipped with a status display module, which can display the robot's working mode, running status, and power-on status. The working mode includes manual mode and automatic mode. The running status includes idle, program running, error, Jog mode, and drag mode. The power-on status includes power-on, power-off, emergency stop, and safety door open status.

[0055] The point-to-point teaching method for an automated loading and unloading robot includes the following steps:

[0056] A. Vision calibration and reference point debugging: First, complete the calibration with the vision system, debug the reference points pick_bcp and pick_bcp2 in the loading area, adjust the robot to the appropriate position, click on the position update, and send the pose to the vision system;

[0057] B. Finished Product Picking Point Debugging: Adjust the robot to the finished product picking posture and open the gripper by using the transition points pickGD, phome, and put1GD in the loading area of ​​the point list. Adjust the finished product picking point to the middle position of the product, trigger the gripper to clamp and verify that the product has not moved. Then update the finished product picking point pick_cp or pick_cp2, where pick_cp corresponds to gripper 1 and pick_cp2 corresponds to gripper 2.

[0058] C. Debugging the semi-finished product placement point: Adjust the robot to the semi-finished product placement posture through put1GD in the point list. After debugging to the appropriate position, trigger the gripper to clamp and verify that the product has not moved. Update the semi-finished product placement point put_bcp or put_bcp2, where put_bcp corresponds to gripper No. 1 and put_bcp2 corresponds to gripper No. 2.

[0059] D. NG Zone Position Debugging: Adjust the robot to the semi-finished product placement posture using put1GD, manually move it above the NG zone and update the transition point Put_NGGD, then move it to the first position of the NG tray, trigger the gripper to clamp and verify that the product has not moved, then update the NG placement position NG.

[0060] E. Debugging of spare parts pick-up points: Adjust the robot's posture above the spare parts pick-up point using pickGD, phome, put1GD, and pick_blpGD in the point list. Manually move the robot to the spare parts product and adjust the posture accordingly. After opening the gripper, trigger clamping and verify that the product has not moved. Update the spare parts pick-up points Lpick_bp and Rpick_bp, where Lpick_bp corresponds to gripper number 1 and Rpick_bp corresponds to gripper number 2. There are 9 spare parts pick-up points on both the left and right sides, and they correspond one-to-one.

[0061] F. Finished Product Feeding Point Debugging: The finished product feeding point is determined by rotating the semi-finished product picking point 180°. pick_bcp corresponds to picking points 1-9 in the feeding area for gripper 1, and pick_bcp2 corresponds to picking points 10-18 in the feeding area for gripper 2. During normal picking and feeding, gripper 1 picks up material and gripper 2 feeds material and gripper 1 feeds material. When replenishing material from the replenishment bin, the gripper is used for picking up and feeding material. During picking up and feeding material, the same gripper is used for picking up and feeding material and the gripper is not rotated 180°. The point offset in the program is adjusted according to the position of the hopper.

[0062] G. Adjustment of semi-finished product picking points in the feeding hopper: Select the point to be modified in the point list, click modify, adjust the X and Y coordinate values ​​and confirm. Picking points 1-9 correspond to pick_bcp, and picking points 10-18 correspond to pick_bcp2.

[0063] H. Program Verification: After debugging, save the robot program and run it from scratch at low speed to check if the robot's operation is normal.

[0064] It also includes the steps for setting up a safe area: Adjust the robot to a position where the distance between the bottom of the gripper and the product surface is 1-2cm. In the safe area setting interface, select area0, select the cuboid area and obtain the TCP pose. Set the area direction to the outside, set the area range to lx20, ly20, lz200, set the trigger register to true, and click to complete to enable the safe area and turn on the overall safe area switch.

[0065] During the point adjustment, the point offset in the X direction is achieved by modifying the value of ccd_xyc[1], and the point offset in the Y direction is achieved by modifying the value of ccd_xyc[2].

[0066] The backup and recovery method for automatic loading and unloading robots includes three parts: robot system backup, robot system recovery, and robot engineering backup and recovery. The specific steps are as follows:

[0067] Robot backup: Under any permissions and any running mode, enter the teach pendant's options interface, select software upgrade, click controller backup, insert the USB flash drive and select the USB flash drive as the save path, and click export to complete the backup;

[0068] Robot full recovery: Switch the robot to manual mode, switch the operation permission to administrator or above, enter the teach pendant's options interface, select software upgrade, click controller upgrade, insert the USB flash drive containing backup files and select the corresponding backup, check the data to be recovered and click upload, wait for the teach pendant to prompt to restart the robot to complete the restart, and realize the robot full recovery;

[0069] Robot project backup and recovery: When exporting a project, enter the programming interface of the teach pendant, select project configuration, click export, select the project to be exported and select the save path, and click next to complete the export; when importing a project, enter the programming interface of the teach pendant, select project configuration, click import, select the project to be imported from the USB drive, and click next to complete the import.

[0070] The maintenance and upkeep methods for automatic loading and unloading robots include the following steps:

[0071] Cylinder action and magnetic opening signal check: Manually trigger the DO signal to control the cylinder action in the programming custom interface, check whether the magnetic opening signal is displayed as true after the cylinder completes the corresponding action. If there is no signal feedback, check the integrity of the magnetic opening and whether the air source pressure is in place.

[0072] Teach pendant routine check: Click the safety checksum in the upper right corner of the teach pendant to check the collision detection status and the sensitivity of each axis; check the program running speed in the lower left corner of the teach pendant to ensure that the speed is kept at 100% to avoid the speed reduction affecting the production cycle.

[0073] External wiring inspection: Regularly check the connection status of the plug at the end of the robot body and the plug on the right side of the control cabinet. If any is loose, tighten it in time.

[0074] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0075] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0076] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A rotary table-assisted automatic loading and unloading robot, characterized in that: The device includes a protective net frame (1), a fixed frame (2) is provided inside the protective net frame (1), a robotic arm (3) is installed on the fixed frame (2), a vision detector (4) is installed on one side of the fixed frame (2), a fixed conveyor belt (5) is provided at the bottom of the fixed frame (2), a lifting conveyor belt (6) is provided inside the fixed frame (2), a controller (7) is installed on the protective net frame (1), a drive motor (8) is installed on the fixed frame (2), a threaded rod (9) is connected to the output end of the drive motor (8), a guide rod (10) is installed on the fixed frame (2), and the guide rod (10) is connected to the lifting conveyor belt (6).

2. The rotary table collaborative automatic loading and unloading robot according to claim 1, characterized in that: The robotic arm (3) is fixedly connected to the fixed frame (2), and the vision detector (4) is fixedly connected to the fixed frame (2).

3. The rotary table collaborative automatic loading and unloading robot according to claim 2, characterized in that: The controller (7) is detachably connected to the protective mesh frame (1), and the drive motor (8) is symmetrically arranged on the fixed frame (2), and the drive motor (8) is fixedly connected to the fixed frame (2).

4. The rotary table collaborative automatic loading and unloading robot according to claim 3, characterized in that: The threaded rod (9) passes through and is rotatably connected to the fixed frame (2). The threaded rod (9) is fixedly connected to the output end of the drive motor (8). The guide rod (10) is symmetrically arranged on the fixed frame (2) and is fixedly connected to the fixed frame (2).

5. The rotary table collaborative automatic loading and unloading robot according to claim 4, characterized in that: The lifting conveyor belt (6) is slidably connected to the guide rod (10), and the lifting conveyor belt (6) is threadedly connected to the threaded rod (9).

6. The rotary table collaborative automatic loading and unloading robot according to claim 5, characterized in that: The startup operation method for the automatic loading and unloading robot includes the following steps: S1. Equipment Inspection and Start-up: Check the robot's position and handle materials or racks that pose a risk of collision; check the air pump pressure and the robot's power button status, and turn on the main power switch until the robot's power indicator light illuminates; S2. Teach pendant connection: After the robot is powered on, the teach pendant will automatically connect via the WIFI icon in the lower left corner. The red slash will disappear after a successful connection. If it does not connect automatically, click the icon to enter the robot connection interface and complete the manual connection. S3. Switching Robot Permissions: Click the permission option in the lower right corner of the teach pendant, select administrator, enter the password 12345 and click login to complete the switch from default operator permissions to administrator permissions; S4. Pre-run program check: Check the correctness of the currently loaded project and confirm that the robot program speed is 100%; S5. Collision Detection Check: Confirm that the robot's collision detection function is enabled and that the sensitivity of each axis meets the requirements of axis 1 ≥ 60%, axis 2 ≥ 80%, axis 3 ≥ 100%, axis 4 ≥ 140%, axis 5 ≥ 140%, and axis 6 ≥ 140%. If it is not enabled, enable it in time. S6, IO signal check: Check the DI signal status in the custom production interface. If the signal is abnormal, check the air source pressure, DI / DO terminal connection status, and sensor wiring harness integrity and tightness in sequence. S7. Working Mode Switching: Click the mode switching button on the HMI interface, and click "OK" in the pop-up confirmation interface to switch the robot from manual mode to automatic mode. After switching, perform subsequent operations through the external touch screen.

7. The rotary table collaborative automatic loading and unloading robot according to claim 6, characterized in that: The teach pendant is equipped with a status display module at the bottom, which can display the robot's working mode, running status, and power-on status. The working mode includes manual mode and automatic mode, the running status includes idle, program running, error, Jog mode, and drag mode, and the power-on status includes power-on, power-off, emergency stop, and safety door open status.

8. The rotary table collaborative automatic loading and unloading robot according to claim 7, characterized in that: The point-to-point teaching method for automated loading and unloading robots includes the following steps: A. Vision calibration and reference point debugging: First, complete the calibration with the vision system, debug the reference points pick_bcp and pick_bcp2 in the loading area, adjust the robot to the appropriate position, click on the position update, and send the pose to the vision system; B. Finished Product Picking Point Debugging: Adjust the robot to the finished product picking posture and open the gripper by using the transition points pickGD, phome, and put1GD in the loading area of ​​the point list. Adjust the finished product picking point to the middle position of the product, trigger the gripper to clamp and verify that the product has not moved. Then update the finished product picking point pick_cp or pick_cp2, where pick_cp corresponds to gripper 1 and pick_cp2 corresponds to gripper 2. C. Debugging the semi-finished product placement point: Adjust the robot to the semi-finished product placement posture through put1GD in the point list. After debugging to the appropriate position, trigger the gripper to clamp and verify that the product has not moved. Update the semi-finished product placement point put_bcp or put_bcp2, where put_bcp corresponds to gripper No. 1 and put_bcp2 corresponds to gripper No.

2. D. NG Zone Position Debugging: Adjust the robot to the semi-finished product placement posture using put1GD, manually move it above the NG zone and update the transition point Put_NGGD, then move it to the first position of the NG tray, trigger the gripper to clamp and verify that the product has not moved, then update the NG placement position NG. E. Debugging of spare parts pick-up points: Adjust the robot's posture above the spare parts pick-up point using pickGD, phome, put1GD, and pick_blpGD in the point list. Manually move the robot to the spare parts product and adjust the posture accordingly. After opening the gripper, trigger clamping and verify that the product has not moved. Update the spare parts pick-up points Lpick_bp and Rpick_bp, where Lpick_bp corresponds to gripper number 1 and Rpick_bp corresponds to gripper number 2. There are 9 spare parts pick-up points on both the left and right sides, and they correspond one-to-one. F. Finished Product Feeding Point Debugging: The finished product feeding point is determined by rotating the semi-finished product picking point 180°. pick_bcp corresponds to picking points 1-9 in the feeding area for gripper 1, and pick_bcp2 corresponds to picking points 10-18 in the feeding area for gripper 2. During normal picking and feeding, gripper 1 picks up material and gripper 2 feeds material and gripper 1 feeds material. When replenishing material from the replenishment bin, the gripper is used for picking up and feeding material. During picking up and feeding material, the same gripper is used for picking up and feeding material and the gripper is not rotated 180°. The point offset in the program is adjusted according to the position of the hopper. G. Adjustment of semi-finished product picking points in the feeding hopper: Select the point to be modified in the point list, click modify, adjust the X and Y coordinate values ​​and confirm. Picking points 1-9 correspond to pick_bcp, and picking points 10-18 correspond to pick_bcp2. H. Program Verification: After debugging, save the robot program and run it from scratch at low speed to check if the robot's operation is normal.

9. A rotary table collaborative automatic loading and unloading robot according to claim 8, characterized in that: During the point adjustment, the point offset in the X direction is achieved by modifying the value of ccd_xyc[1], and the point offset in the Y direction is achieved by modifying the value of ccd_xyc[2].

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