The components of the loading and unloading robotic arm usually applied in the machine tool industry are composed of industrial manipulators, bin systems, end-of-arm actuators, control systems, safety guards and other systems, as well as automated control and operation systems for the main matching client of the factory. The realization of a complete set of machining processes, need to be integrated through the above systems, in order to achieve a machine tool or multiple machines for machining units, assembly lines and production lines of machining automation.
Therefore, a set of processing unit is composed of all kinds of systems, playing their own unique role. The truss robot control system is an important component of the processing unit, and it is also a basic part in realizing the operation of the truss robot arm, playing the role of a pivotal device. Most of the truss robots' arms and wrists are spatial organizations composed of joints and rods, which are composed of multiple or even ten degrees of freedom. Generally speaking, machine tool truss robots' arms are composed of 3-6 degrees of freedom, which are also called joint axes. As the truss robot has the mechanism of multi-degree-of-freedom arm and wrist, it makes the operation movement universal and flexible, which is also the feature differentiated from the general mechanical equipment.
1、System components make the truss manipulator work
In a complete set of servo control system for truss robot, it is stepping motor or DC servo motor that drives each joint of robot arm. The stepping motor gets a series of pulse signals from the driver, and each pulse signal makes the stepping motor shaft produce a certain angular displacement. Generally do not need feedback loop and position encoder, control is relatively simple. The control system of the manipulator using DC servo motors uses the speedometer and angle encoding as the feedback device, which can accurately control the movement of the joint axis of the manipulator arm, and it works smoothly, the rotational speed can be continuously adjusted, and it can respond quickly to both acceleration and deceleration commands.
2、Manipulating the robotic arm through the human-machine teach pendant device
Teach operation of its movement needs to be pre-action planning (including how to move, output delay, detection of jumps and other key actions), and then trajectory simulation, according to the program steps to edit out the processing of the process program, parameter setting is also a very important step.
In addition, through the robot teach pendant to play the role of demonstration programming function, can be pre-planned movement or parameter values for the coordinate setting, record the key position information to generate the movement trajectory. Parameterization of each axis of motion by the robot (axis speed, trajectory planning, parameter values)
Operate the robot arm to carry out a process, save the program, can be reused to cycle processing again, to achieve the purpose of automated processing.
The truss manipulator moves the workpiece through the special manipulator arm controller control. The single workflow of the manipulator operating the workpiece consists of 6 key steps: the manipulator operates to the workpiece, tightens the workpiece, operates the workpiece to the specified position, puts down the workpiece, and returns to the workpiece at the beginning.
