CN109249263A - Reciprocating processing machine and mechanical arm pick and place integration system - Google Patents
Reciprocating processing machine and mechanical arm pick and place integration system Download PDFInfo
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- CN109249263A CN109249263A CN201811024775.7A CN201811024775A CN109249263A CN 109249263 A CN109249263 A CN 109249263A CN 201811024775 A CN201811024775 A CN 201811024775A CN 109249263 A CN109249263 A CN 109249263A
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- 230000010354 integration Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 claims abstract description 64
- 230000008569 process Effects 0.000 claims abstract description 58
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000007599 discharging Methods 0.000 claims description 21
- 238000007664 blowing Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000005457 optimization Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
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- 230000004308 accommodation Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
The present invention relates to reciprocating processing machines and mechanical arm to pick and place integration system, at least one reciprocating processing machine, has a rotary shaft and a measuring equipment, and measuring equipment is arranged on the rotary shaft, rotary shaft is to drive reciprocating processing machine, a rotation angle of the measuring equipment to measure reciprocating processing machine；One controller is connect with reciprocating processing machine by signal communication mode, the process velocity of reciprocating processing machine is obtained according to the rotation angle information of reciprocating processing machine；An at least mechanical arm, it is connect by signal communication mode with controller, controller determines the pick-and-place material section of mechanical arm according to the safe range and process velocity of reciprocating processing machine, controller takes dispensing speed according to the minimum that the pick-and-place material tube diameter for picking and placing material section and mechanical arm obtains mechanical arm, so that minimum is taken dispensing speed to be compared with a maximum running speed of mechanical arm by controller, judge whether to adjust process velocity.Achieve the effect that accelerate to pick and place material, accelerate speed of production.
Description
Technical field
The present invention relates to a kind of reciprocating processing machines and mechanical arm to pick and place integration system.
Background technique
Currently, processing machine takes discharging device to play the part of a very important role when processing machine carries out processing operation,
The performance of discharging device is taken to will have a direct impact on accuracy and efficiency that processing machine executes processing operation, and traditional processing machine is being arranged in pairs or groups
A processing machine controller and a pick-and-place material Setup Controller are needed when taking discharging device, and are between controller and controller
Carry out exchange message by input and output (Input/Output, IO) or bus communication, or is using processing machine controller
Extra control shaft does the control of mechanical arm, but since processing machine controller and pick-and-place material Setup Controller are not dedicated set
Meter fails to provide effective pick-and-place application function in work pieces process.
In addition, the processing machine and mechanical arm in another traditional punching machine pick and place in material, it is to be carried out in a manner of authorization signal
It links up, sending the holding point that authorization signal has to that mechanical arm is waited to reach fixation can just continue, and not only efficiency is low,
Adjustment in real time is also difficult to carry out with stroke optimization.
Therefore, how to provide a kind of processing machine takes discharging device to be integrated with system of processing, can be effectively improved existing
The shortcomings that technology, has become an important project.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of the prior art, a kind of reciprocating processing machine is provided and is taken with mechanical arm
Put integration system.
The purpose of the present invention is achieved through the following technical solutions:
Reciprocating processing machine and mechanical arm pick and place integration system, and feature is: including
At least one reciprocating processing machine, has a rotary shaft and a measuring equipment, and rotation on the rotary shaft is arranged in measuring equipment
Shaft is to drive reciprocating processing machine, a rotation angle of the measuring equipment to measure reciprocating processing machine；
One controller is connect, according to the rotation angle of reciprocating processing machine with reciprocating processing machine by signal communication mode
Spend the process velocity of the reciprocating processing machine of information acquisition；
An at least mechanical arm is connect by signal communication mode with controller, and controller is according to reciprocating processing machine
Safe range and process velocity determine the pick-and-place material section of mechanical arm, and controller expects the one of section and mechanical arm according to pick-and-place
It picks and places material tube diameter and obtains the minimum of mechanical arm and take dispensing speed, so that minimum is taken dispensing speed and mechanical arm by controller
One maximum running speed is compared, and judges whether to adjust process velocity.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein controller includes configuration
At least one first sub-controller in reciprocating processing machine and at least one second sub-controller being configured in mechanical arm, the
One sub-controller and the second sub-controller according to the process velocity of the reciprocating processing machine of rotation angle calculation of reciprocating processing machine,
And it is determined to pick and place material section according to the process velocity of safe range and reciprocating processing machine, and the first sub-controller and the second son are controlled
Device processed expects that section and pick-and-place material path computing minimum take dispensing speed according to pick-and-place, passes through the first sub-controller and the second sub- control
Minimum is taken dispensing speed to be compared with maximum running speed by device, judges whether to adjust the process velocity.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein when minimum picks and places material speed
When degree is less than maximum running speed, controller further judges between process velocity and the maximum process velocity of reciprocating processing machine one
Relationship, when process velocity is less than maximum process velocity, controller recalculates minimum and takes dispensing speed via iterating
Until minimum takes, dispensing speed is equal to maximum running speed or process velocity is equal to maximum process velocity.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein when taking dispensing speed big
When maximum running speed, controller jumps out warning message and suspends the running of reciprocating processing machine.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein measuring equipment is a volume
Code device or a resolver.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein the first sub-controller with
Second sub-controller is respectively an axis-control system of reciprocating processing machine and mechanical arm.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein mechanical arm is by reciprocal
Remove or place a workpiece in one processing stand position of formula processing machine.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein controller is according to reciprocal
Position is put on the one of one linear axes work in-process of formula processing machine and processing stand position calculates safe range.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein picking and placing material section includes
One feeding time point and a discharging time point, feeding time point are when mechanical arm being allowed to remove a starting of a finished work
Between, mechanical arm places a workpiece to be processed before discharging time point.
Further, above-mentioned reciprocating processing machine and mechanical arm pick and place integration system, wherein pick and place material section and also wrap
Material connecting points are picked and placed containing one, picking and placing material connecting points is any point between feeding time point and discharging time point, makes mechanical arm
Finished work is removed in the range of feeding time point and pick-and-place material connecting points, and in discharging time point and picks and places material connecting points
In the range of place workpiece to be processed.
The present invention has significant advantages and beneficial effects compared with prior art, embodies in the following areas:
Reciprocating processing machine has rotary shaft and measuring equipment, and measuring equipment is arranged on the rotary shaft, measures reciprocating add
The rotation angle of work machine, reciprocating processing machine are used to process mechanical arm crawl workpiece to be processed.Controller is according to rotation
Gyration obtains the travel position information of reciprocating processing machine, and controls mechanical arm and remove or place workpiece.Measuring equipment
Rotation angle is measured, controller obtains real-time stroke according to the travel position of rotation angle and the linear axes of reciprocating processing machine and advises
It draws, reaches acceleration and pick and place material, accelerate speed of production, reduce the effect of machine accommodation time.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing specific embodiment of the invention understanding.The objectives and other advantages of the invention can be by institute
Specifically noted structure is achieved and obtained in specification, claims and the attached drawing write.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the schematic diagram that reciprocating processing machine and mechanical arm pick and place integration system first embodiment；
Fig. 2 is the schematic diagram that reciprocating processing machine and mechanical arm pick and place integration system second embodiment；
Fig. 3 is that the rotation shaft angle for the reciprocating processing machine that reciprocating processing machine and mechanical arm pick and place integration system is illustrated
Figure；
Fig. 4 is the schematic diagram that reciprocating processing machine and mechanical arm pick and place integration system 3rd embodiment；
Fig. 5 is the schematic diagram that reciprocating processing machine and mechanical arm pick and place integration system fourth embodiment；
Fig. 6 is the efficiency optimization flow chart that reciprocating processing machine and mechanical arm pick and place integration system.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, directional terminology and ordinal term etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Such as Fig. 1, the schematic diagram of reciprocating processing machine and mechanical arm pick-and-place integration system first embodiment.Reciprocating processing
Machine and mechanical arm pick and place integration system, and comprising reciprocating processing machine 10, mechanical arm 20 and controller 30, wherein three is by believing
Number communication modes interconnect, such as in a manner of the signal communication of wired or wireless network.Reciprocating processing machine 10 includes to measure
Device 103, rotary shaft 105 and linear axes 107, wherein measuring equipment 103 is arranged in rotary shaft 105 to measure reciprocating add
The rotation angle of work machine 10.Specifically, one end of measuring equipment 103 is set in rotary shaft 105, and the other end is fixed on back and forth
On the ontology of formula processing machine 10, when the running of reciprocating processing machine 10, measuring equipment 103 is rotated together with rotary shaft 105, together
When measuring equipment 103 by detecting itself angle, and then learn the angle that rotary shaft 105 rotates, and calculate linear axes 107
Travel position.Measuring equipment 103 can be encoder or resolver or other rotary shafts 105 that measure rotate angle
Sensor.It is worth noting that, in an embodiment of the present invention, controller 30 external (such as computer) or can be built into reciprocal
In formula processing machine 10 and mechanical arm 20 (such as respective axis-control system), it will illustrate respectively in subsequent embodiment.
Mechanical arm 20 is used in addition to that can be placed on reciprocating processing machine 10 by grabbing workpiece 70 to be processed in charging tray
Except the movement for executing feeding, in addition the workpiece 70 of machined completion can also be taken out from reciprocating processing machine 10 and be placed on material
On disk, that is, execute the movement of blowing.In other words, feeding and two kinds of blowing work can be performed in mechanical arm 20.In addition, reciprocating
Processing machine 10 with mechanical arm 20 all can be one or multiple, when mechanical arm 20 is multiple, these mechanical arms
20 can operate simultaneously and then increase the efficiency of feeding and blowing.
The case where when more mechanical arms operate simultaneously, such as Fig. 2, and in combination with Fig. 1.Fig. 2 be reciprocating processing machine with
Mechanical arm picks and places the schematic diagram of integration system second embodiment, and mechanical arm 20 is responsible for execution feeding and works, and mechanical arm
22 are responsible for executing blowing work.When the rotation angle according to measured by measuring equipment 103 of controller 30 learns reciprocating at present add
When work machine 10 is in machining state, rotation angle is just calculated into reciprocating processing machine using slider crank mechanism or similar fashion
107 travel position of linear axes is then gone out reciprocating processing machine 10 via Difference Calculation again by the travel position of 10 linear axes 107
Process velocity 64.For example, linear axes 107 can in processing distance D, i.e., as point position A and lower position B upper in Fig. 2 it
Between range in it is round-trip, controller 30 can be calculated by the rotation angle of rotary shaft 105 current linear axes 107 operate on processing away from
From the travel position in D.On the other hand, in process, if linear axes 107 depress to lower position B and can damage workpiece 70,
Therefore the safe range F of the pressure of linear axes 107 must be previously set, the safe range F that linear axes 107 are depressed is upper point in Fig. 2
Range between position A and processing stand G.
The pick-and-place stream journey speed of integration system, mechanical arm 20 are picked and placed in order to promote reciprocating processing machine and mechanical arm
Time point is expected with the pick-and-place that another mechanical arm 22 starts operation and takes dispensing speed must be with the processing of reciprocating processing machine 10
Speed 64 is worked in coordination.Then, how controller 30 sets the pick-and-place material time point of mechanical arm 20 Yu another mechanical arm 22.
Such as the rotation shaft angle for the reciprocating processing machine that Fig. 2 and Fig. 3, Fig. 3 are reciprocating processing machine and mechanical arm pick-and-place integration system
Schematic diagram.Mechanical arm can be set separately according to the process velocity 64 of reciprocating processing machine 10 and safe range F in controller 30
20 feeding time point T2With the discharging time point T of mechanical arm 221.It is, in general, that after mechanical arm 20 takes material, it is mechanical
Arm 22 will execute blowing immediately, therefore the time point that mechanical arm 20 is connected to mechanical arm 22 by controller 30 is set as taking
Blowing connecting points TS, pick and place material connecting points TSIt can be feeding time point T2With discharging time point T1Intermediate any point.It is worth note
Meaning, since the operation period of reciprocating processing machine 10 is equal to the operation period of rotary shaft 105, rotary shaft 105 is revolved
Turn a whole circle required for the time it is related to process velocity 64, in other words, feeding time point T2, discharging time point T1With pick-and-place
Expect connecting points TSAlso related to process velocity 64.
What how controller 30 set mechanical arm 20 and another mechanical arm 22 takes dispensing speed.Feeding time point T2It arrives
Pick and place material connecting points TSThis period be mechanical arm 20 feeding section 40, mechanical arm 20 passes through in feeding section 40
Feeding path it is as follows: after being first moved to processing stand G above from holding point, the E1 of distance as shown in fig 2, then machinery
Arm 20 declines crawl finished work 70 again, and (distance is not painted, it is assumed that is Y1), later further out reciprocating processing machine 10
(distance is not painted range, it is assumed that is E1), moving distance of the mechanical arm 20 on feeding path is 2 (E1+Y1), it can set in advance
It is fixed.By feeding path and feeding time point T2Connecting points T is expected to picking and placingSTime it can be calculated that completing this section within the time
Minimum feeding speed 62 required for the mechanical arm 20 of moving distance.And so on, the blowing section 50 of mechanical arm 22 is then
It is to pick and place material connecting points TSTo discharging time point T1In this period, what the mechanical arm 22 of placement workpiece to be processed 70 was passed through
Blowing path is as follows: from holding point be moved to above processing stand G after its distance E2 as shown in fig 2, then decline placement
(distance is not painted workpieces processing 70, it is assumed that is Y2), later, the range E further out reciprocating processing machine 10 of mechanical arm 222,
Moving distance of the mechanical arm 22 on blowing path is 2 (E2+Y2), it can preset.By blowing path and pick and place material linking
Point TSTo discharging time point T1Time it can be calculated that being completed within the time required for the mechanical arm 22 of this section of moving distance
Minimum dispensing speed 60.
When controller 30 calculates separately out minimum feeding speed 62 and minimum dispensing speed 60, (following statement is by minimum feeding
Speed 62 and minimum 60 abbreviation minimum of dispensing speed take dispensing speed) after, then by minimum take dispensing speed and mechanical arm 20 with
The maximum running speed of another mechanical arm 22 is compared, and judges whether to need to adjust process velocity 64.In general, it controls
The comparison result of device 30 will can illustrate respectively below there are three types of situation.The first situation；When minimum takes dispensing speed 60 to be equal to most
When big running speed, the whole process that picks and places is represented at this time and has reached optimization.Second situation: when minimum takes dispensing speed 60 to be less than
When maximum running speed, controller 30 can first judge whether current process velocity 64 is more than that reciprocating processing machine 10 is default
Maximum process velocity just represents whole take if process velocity 64 is less than the default maximum process velocity of reciprocating processing machine 10
Journey is released there are also the space accelerated, controller 30 can first improve current process velocity 64, recalculate minimum pick-and-place again later
Expect speed 60, and confirm that the minimum after recalculating takes whether dispensing speed 60 is less than or equal to maximum running speed, via anti-
Until minimum takes, dispensing speed 60 is equal to maximum running speed or process velocity 64 is equal to reciprocating processing machine for multiple iterative calculation
10 default maximum process velocities 64, can be considered reached optimized state at this time.The third situation: when minimum picks and places material speed
Degree 60 is greater than maximum running speed, and representing mechanical arm 20 and another mechanical arm 22 at this time will collide, at this time controller 30
Warning can be jumped out, while suspending the running of mechanical arm 20 Yu another mechanical arm 22.
If the reciprocating processing machine of Fig. 4 and mechanical arm pick and place the schematic diagram of integration system 3rd embodiment, add when reciprocating
When work machine 10 is more, such as continuous processor series architecture, mechanical arm 20 and another mechanical arm 22 can be reciprocal at more
The operation of feeding and blowing is executed between formula processing machine 10.Controller 30 can be collected simultaneously reciprocating processing machine 10, it is reciprocating plus
The rotary shaft that measuring equipment 103, measuring equipment 123 and measuring equipment 143 in work machine 12 and reciprocating processing machine 14 detect
105, the rotation angle of rotary shaft 125 and rotary shaft 145, and then calculate linear axes 107, linear axes 127 and linear axes 147
Travel position, and reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine 14 are calculated according to travel position
Process velocity 64.On the other hand, controller 30 can be according to reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine
14 process velocity 64 adjusts taking discharging time and picking and placing speed for mechanical arm 20 and another mechanical arm 22, and judge be
The no process velocity 64 that need to adjust reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine 14 allows whole pick and place to flow
Journey optimizes.
On the other hand, after mechanical arm 20 takes material, controller 30 can be according to the travel position computer of linear axes 127
Tool arm 20 is needed to be moved to reciprocating processing machine 12 with how many dispensing speeds 60 and executes blowing work.And so on, control
Device 30 can need to be moved to how many dispensing speeds 60 reciprocating according to the travel position calculating machine arm 22 of linear axes 147
Processing machine 14 executes blowing work.In this way, which mechanical arm 20 and another mechanical arm 22 are executing reciprocating processing machine
10, with after the feeding work of reciprocating processing machine 12, can connect immediately and execute reciprocating processing machine 12 and reciprocating processing machine 14
Blowing work, just starts to execute without waiting until that linear axes 127 return to upper point and postpone with linear axes 147 in holding point, to reduce
It is whole to pick and place processing flow speed.
If the reciprocating processing machine of Fig. 5 and mechanical arm pick and place the schematic diagram of integration system fourth embodiment, controller 30 is wrapped
Containing the first sub-controller 101, first being built into reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine 14
Sub-controller 104 and the first sub-controller 105 (such as reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine 14
Axis-control system), also comprising the second sub-controller 102 being built into mechanical arm 20 and mechanical arm 22 and the second son control
Device 103 (such as axis-control system of mechanical arm 20 and mechanical arm 22).Wherein, the first sub-controller 101, the first sub-controller
104 with the first sub-controller 105 and the second sub-controller 102 with it is mutual by wired or wireless network with the second sub-controller 103
It is connected, rotary shaft 105, the rotary shaft detected to collect measuring equipment 103, measuring equipment 123 and measuring equipment 143
125 with the rotation angle of rotary shaft 145, and then calculate the travel position of linear axes 107, linear axes 127 and linear axes 147,
And the process velocity of reciprocating processing machine 10, reciprocating processing machine 12 and reciprocating processing machine 14 is calculated according to travel position
64.On the other hand, the first sub-controller 101, the first sub-controller 104 and the first sub-controller 105 and the second sub-controller 102
It can be adjusted according to the process velocity 64 of compound processing machine 10, compound processing machine 12 and compound processing machine 14 with the second sub-controller 103
Whole mechanical arm 20 takes discharging time and pick-and-place speed with mechanical arm 22, and judges whether that reciprocating processing machine need to be adjusted
10, the process velocity 64 of reciprocating processing machine 12 and reciprocating processing machine 14 allows the whole process that picks and places to optimize, judge process with
It is above-mentioned identical not repeat herein.
Such as Fig. 6, and combine Fig. 2 and Fig. 3.Fig. 6 is that the efficiency of reciprocating processing machine and mechanical arm pick-and-place integration system is excellent
Change flow chart.In the present embodiment, by taking two mechanical arms arrange in pairs or groups a reciprocating processing machine as an example, to illustrate pick-and-place of the present invention
Efficiency optimization process, firstly, the feeding time point T of mechanical arm 202, mechanical arm 22 discharging time point T1With mechanical arm
20 with the pick-and-place material connecting points T of mechanical arm 22SAfter the completion of setting, carries out reciprocating processing machine and mechanical arm picks and places integration system
The efficiency optimization process of system.In step 80, by the moving distance and feeding time point T of mechanical arm 202It is connected to material is picked and placed
Point TSTime calculate minimum feeding speed 62 required for mechanical arm 20；Followed by step 81, by mechanical arm 22
Moving distance and pick-and-place material connecting points TSTo discharging time point T1Time calculate minimum blowing required for mechanical arm 22
Speed 60.In another embodiment, the sequence of step 80 and step 81 be can be interchanged.Then, in step 82, mechanical arm is most
Small feeding and the maximum speed of minimum dispensing speed and mechanical arm carry out size judgement.It is by abovementioned steps 80 in step 82
The minimum feeding speed 62 obtained and minimum dispensing speed 60 and mechanical arm 20 and another mechanical arm are calculated with step 81
22 maximum speed progress size judgement, if minimum feeding speed 62 and minimum dispensing speed 60 are less than mechanical arm 20 and separately
The maximum speed of one mechanical arm 22, then enter step 84, determines whether reciprocating processing machine 10 can also accelerate.In step 84
In, it is that whether can also improve speed for reciprocating processing machine 10 to be determined, if reciprocating processing machine 10 can also improve speed
Then enter step 86, step 86 is to improve the process velocity 64 of reciprocating processing machine 10, and this reciprocating processing machine and manipulator
The efficiency optimization process that arm picks and places integration system can return step 80 and step 81 recalculate minimum feeding speed 62 and
Minimum dispensing speed 60 enters step 85 if reciprocating processing machine 10 cannot improve speed, is judged to having reached best
Change.
In step 82, the minimum feeding speed 62 obtained and minimum dispensing speed 60 are calculated by step 80 and step 81
Size judgement is carried out with the maximum speed of mechanical arm 20 and another mechanical arm 22, if minimum feeding speed 62 and minimum are put
Expect that speed 60 is greater than the maximum speed of mechanical arm 20 and another mechanical arm 22, then enters step 83, triggering is bumped against warning and stopped
Only operate.In a step 83, bumping against warning is to jump out warning by controller 30, and suspend mechanical arm 20 and another machinery simultaneously
The running of arm 22, the reciprocating processing machine 10 being connect with this mechanical arm 20 with another 22 aspect of mechanical arm and its
Its mechanical arm 20 also will receive pause with another mechanical arm 22 and alert and stop operating.In another situation, if minimum takes
Expect that speed 62 and minimum dispensing speed 60 are equal to the maximum speed of mechanical arm 20, then enters step 85, be judged to having reached
To optimization.
In conclusion the reciprocating processing machine of the present invention and mechanical arm pick and place integration system, reciprocating processing machine has rotation
Shaft and measuring equipment, measuring equipment are arranged on the rotary shaft, measure the rotation angle of reciprocating processing machine, reciprocating processing machine
For being processed to mechanical arm crawl workpiece to be processed.Controller obtains the stroke of reciprocating processing machine according to rotation angle
Location information, and control mechanical arm and remove or place workpiece.Measuring equipment measures rotation angle, and controller is according to rotation angle
The travel position of the linear axes of degree and reciprocating processing machine obtains real-time stroke planning, reaches acceleration and picks and places material, accelerates production speed
Degree reduces the effect of machine accommodation time.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above is only a specific embodiment of the present invention, but scope of protection of the present invention is not limited thereto, any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to protection scope described in claim.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. reciprocating processing machine and mechanical arm pick and place integration system, it is characterised in that: including
At least one reciprocating processing machine has a rotary shaft and a measuring equipment, and measuring equipment is arranged on the rotary shaft, rotary shaft
To drive reciprocating processing machine, a rotation angle of the measuring equipment to measure reciprocating processing machine；
One controller is connect by signal communication mode with reciprocating processing machine, is believed according to the rotation angle of reciprocating processing machine
Breath obtains the process velocity of reciprocating processing machine；
An at least mechanical arm is connect by signal communication mode with controller, and controller is according to the safety of reciprocating processing machine
Range and process velocity determine the pick-and-place material section of mechanical arm, and controller is according to the pick-and-place for picking and placing material section and mechanical arm
The minimum that material tube diameter obtains mechanical arm takes dispensing speed, so that controller takes minimum the one of dispensing speed and mechanical arm most
Big running speed is compared, and judges whether to adjust process velocity.
2. reciprocating processing machine according to claim 1 and mechanical arm pick and place integration system, it is characterised in that: controller
Including at least one first sub-controller being configured in reciprocating processing machine and at least one second son being configured in mechanical arm
Controller, the first sub-controller and the second sub-controller are according to the reciprocating processing machine of rotation angle calculation of reciprocating processing machine
Process velocity, and determined to pick and place material section, and the first sub-controller according to the process velocity of safe range and reciprocating processing machine
With the second sub-controller according to pick and place material section and pick and place material path computing minimum take dispensing speed, by the first sub-controller with
Minimum is taken dispensing speed to be compared with maximum running speed by the second sub-controller, judges whether to adjust the process velocity.
3. reciprocating processing machine according to claim 1 or 2 and mechanical arm pick and place integration system, it is characterised in that: when
When minimum takes dispensing speed to be less than maximum running speed, controller further judges that process velocity and reciprocating processing machine one are maximum
Relationship between process velocity, when process velocity is less than maximum process velocity, controller recalculates most via iterating
It is small to take dispensing speed until minimum takes dispensing speed to be equal to maximum running speed or process velocity equal to maximum process velocity.
4. reciprocating processing machine according to claim 1 or 2 and mechanical arm pick and place integration system, it is characterised in that: when
When dispensing speed being taken to be greater than maximum running speed, controller jumps out warning message and suspends the running of reciprocating processing machine.
5. reciprocating processing machine according to claim 1 and mechanical arm pick and place integration system, it is characterised in that: measure dress
It is set to an encoder or a resolver.
6. reciprocating processing machine according to claim 2 and mechanical arm pick and place integration system, it is characterised in that: the first son
Controller and the second sub-controller are respectively an axis-control system of reciprocating processing machine and mechanical arm.
7. reciprocating processing machine according to claim 1 or 2 and mechanical arm pick and place integration system, it is characterised in that: machine
A workpiece is removed or placed to tool arm by a processing stand position of reciprocating processing machine.
8. reciprocating processing machine according to claim 1 or 2 and mechanical arm pick and place integration system, it is characterised in that: control
Device processed calculates safe range according to point position on the one of a linear axes work in-process of reciprocating processing machine and processing stand position.
9. reciprocating processing machine according to claim 1 and mechanical arm pick and place integration system, it is characterised in that: pick and place material
Section includes a feeding time point and a discharging time point, and feeding time point is that mechanical arm is allowed to remove a finished work
One initial time, mechanical arm place a workpiece to be processed before discharging time point.
10. reciprocating processing machine according to claim 9 and mechanical arm pick and place integration system, it is characterised in that: pick and place
Expect that section also includes a pick-and-place material connecting points, picking and placing material connecting points is any point between feeding time point and discharging time point,
So that mechanical arm is removed finished work at feeding time point and pick and place material connecting points in the range of, and discharging time point with take
Workpiece to be processed is placed in the range of blowing connecting points.
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| CN208811670U (en) * | 2018-09-04 | 2019-05-03 | 苏州新代数控设备有限公司 | Reciprocating processing machine and mechanical arm pick and place integration system |
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| US20020021959A1 (en) * | 1999-04-19 | 2002-02-21 | Applied Materials, Inc. | Method and apparatus for alignment of automated workpiece handling systems |
| JP2005316937A (en) * | 2004-04-02 | 2005-11-10 | Yaskawa Electric Corp | Control device and its control method |
| CN106826362A (en) * | 2015-12-04 | 2017-06-13 | 发那科株式会社 | Possesses the hybrid system of lathe and robot |
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