TWM485805U - Mechanical arm control system - Google Patents

Description

Robotic arm control system 【0001】

The present invention relates to a robotic arm control system, and more particularly to a system for sensing a user's motion by a sensor of a mobile device and translating the motion into a control code via an algorithm to teach the robot to act.

【0002】

Nowadays, the development of the robotic arm has multi-joint joints and knots. The principle of the walking motion is the right-angle coordinate type, the cylindrical coordinate type, the polar coordinate type, the joint type coordinate type, etc., and the movement is performed in a plane or a three-dimensional space. After the operator can input the job sequence, the robot can follow the process to perform regular operations. The robotic arm is widely used in industry. Whether it is loading and unloading of objects, grinding and polishing on workpieces, inspection and plating technology, or even dangerous and arduous steps such as welding and high temperature casting, it can replace manual work with mechanical arms. , to increase the production speed of the production line.

[0003]

However, in the process of requiring the robot to repeat the action, that is, the so-called teaching formation, an additional platform simulator must be provided to simulate the operation state of each axis motor, so that the user can input parameters and control according to requirements. The action of the robotic arm. Traditionally, the platform-type simulators are mostly resistive analog teaching boxes, which provide the user with input of specific parameters and convert them into parameters such as voltage and current for controlling the motor of the robot arm to control the operation process of the robot arm. The teaching method requires an additional setting of the teaching box, and the teaching method is to input precise parameters, which is less humanized.

[0004]

As mentioned above, it is true that the creators of this creation have worked hard for many years to study, think and design a mechanical arm control system to improve the lack of existing technology, thereby enhancing the implementation and utilization of the industry.

[0005]

In view of the above-mentioned problems of the prior art, the aim of the present invention is to provide a robotic arm control system that senses a user's motion with a sensor inside the mobile device, and translates the motion motion into a control code through an algorithm to transmit Achieving the teaching to form a control robotic arm. This system replaces the traditional resistive simulator teach box to facilitate the process of forming the process.

[0006]

In addition, when the action is converted into a control code, the algorithm used can be an extension algorithm, which is convenient for the user to teach in a humanized operation mode, and then the path planning is performed by the extension algorithm to reduce the manipulator action. time.

【0007】

Based on the above purposes, the present invention is a mechanical arm control system including a sensing module, a path planning module, a conversion module, a communication module, and a remote controlled module. The sensing module can be used to sense the continuous motion of the user and generate a corresponding plurality of sensing signals. The path planning module can be configured to receive a plurality of sensing signals and utilize an extension algorithm to plan to generate a path signal corresponding to the continuous motion. The conversion module converts the path signal into a control code. The communication module can be used to transmit control codes. The remote controlled module can include a receiving unit and a mechanical arm, the receiving unit can be used to receive the control code, and the remote controlled module can control the movement of the mechanical arm according to the control code.

[0008]

Preferably, the sensing module can include a gyroscope, an accelerometer, an orientation sensor, or a combination thereof.

【0009】

Preferably, the sensing module is mounted on the limb of the user.

[0010]

Preferably, the path planning module can be an application of the mobile device.

[0011]

Preferably, the sensing module can be a built-in sensor of the mobile device, and the built-in sensor can include a gyroscope, an accelerometer, an orientation sensor, or a combination thereof.

[0012]

Preferably, the communication module can include a wireless transmission unit, a wired transmission unit, or a combination thereof.

100‧‧‧ Robotic Arm Control System
10‧‧‧Sensing module
11‧‧‧Sense signal
20‧‧‧Path Planning Module
21‧‧‧path signal
30‧‧‧Transition module
31‧‧‧Control code
40‧‧‧Communication module
50‧‧‧Remote controlled module
51‧‧‧ Receiving unit
52‧‧‧ Robotic arm

[0013]

Figure 1 is a block diagram of the robotic arm control system of the present invention.
Figure 2 is an embodiment of the robotic arm control system of the present invention.

[0014]

In order to understand the technical characteristics, content and advantages of the creation and the effects that can be achieved by the examiner, the author will use the drawings in detail and explain the following in the form of the examples, and the drawings used therein The subject matter is only for the purpose of illustration and supplementary manual. It is not necessarily the true proportion and precise configuration after the implementation of the original creation. Therefore, the proportion and configuration relationship of the attached drawings should not be limited to the scope of patents created in actual implementation. Narration.

[0015]

See Figure 1 for a block diagram of the robotic arm control system. In the figure, a robot arm control system 100 includes a sensing module 10, a path planning module 20, a conversion module 30, a communication module 40, and a remote controlled module 50. The sensing module 10 can include a gyroscope, an accelerometer, an orientation sensor, or a combination thereof for sensing a continuous motion of the user and generating a corresponding plurality of sensing signals 11. The sensing module 10 can be disposed on the user's arm to input the motion of the teaching robot 52.

[0016]

The path planning module 20 can be configured to receive a plurality of sensing signals 11 and utilize an extension algorithm to plan to generate a path signal 21 corresponding to the continuous action. Traditionally, it is necessary to teach the robot arm 52 to pass through the teaching box, and only for the user to input specific coordinate parameters, through the extension algorithm, the user's continuous motion can be converted into the path signal 21, and the set operation result is the minimum parameter. To achieve the above objectives, the teaching process is simplified.

[0017]

The conversion module 30 is configured to convert the path signal 21 to generate a control code 31 for controlling the robot arm. The communication module 40 can be a wireless transmission unit, a wired transmission unit, or a combination thereof for transmitting the control code 31. The remote controlled module 50 can include a receiving unit 51 and a robot arm 52. The receiving unit 51 can control the actuation of the robot arm 52 according to the received control code 31 to achieve the function of the communication teaching.

[0018]

Please also refer to Figures 1 and 2, which are block diagrams of the robot arm control system and embodiments of the robot arm control system. The sensing module 10, the path planning module 20, the conversion module 30, and the communication module 40 can respectively correspond to the module on the mobile device, and the sensing module 10 can be a built-in sensor on the mobile device, including the gyroscope. The accelerometer, the azimuth sensor, and the touch sensor are provided for the user to hold the mobile device for continuous action, and input the action to teach the robot arm 52.

[0019]

The path planning module 20 and the conversion module 30 can be used as an application of the mobile device to receive the sensing signal 11 of the sensing module 10 into the application. The application includes an extension algorithm and a conversion module 30. The sensing signal 11 is converted into the control code 31, and the signal is transmitted to the remote controlled module 50 by the communication module 40 on the mobile device to complete the communication teaching action. The robotic arm control system 100 can be simplified by the built-in sensor of the mobile device. As long as the user holds the seed device, the robot arm 52 can be controlled by the application, which is more user-friendly.

[0020]

The specific embodiments set forth in the detailed description of the preferred embodiments are merely used to facilitate the description of the technical contents of the present invention, and the present invention is not limited to the above embodiments, and does not exceed the spirit of the present invention and the following patents. The scope of the scope, the implementation of all kinds of changes, are within the scope of this creation.

100‧‧‧ Robotic Arm Control System

10‧‧‧Sensing module

11‧‧‧Sense signal

20‧‧‧Path Planning Module

21‧‧‧path signal

30‧‧‧Transition module

31‧‧‧Control code

40‧‧‧Communication module

50‧‧‧Remote controlled module

51‧‧‧ Receiving unit

52‧‧‧ Robotic arm

Claims (6)

[Item 1] A robotic arm control system comprising:
a sensing module is configured to sense a continuous motion of a user and generate a corresponding plurality of sensing signals;
a path planning module is configured to receive the plurality of sensing signals, and use an extension algorithm to plan to generate a path signal corresponding to the continuous motion;
a conversion module converts the path signal into a control code;
a communication module for transmitting the control code; and a remote control module comprising a receiving unit and a mechanical arm, the receiving unit is configured to receive the control code, the remote controlled module The control code is used to control the actuation of the robot arm. [Item 2] The robot arm control system of claim 1, wherein the sensing module comprises a gyroscope, an accelerometer, an orientation sensor, or a combination thereof. [Item 3] The robot arm control system of claim 1, wherein the sensing module is mounted on a limb of the user. [Item 4] The robot arm control system of claim 1, wherein the path planning module is an application of a mobile device. [Item 5] The robot arm control system of claim 4, wherein the sensing module is a built-in sensor of the mobile device, and the built-in sensor comprises a gyroscope, an accelerometer, and a sense of orientation. Detector or a combination thereof. [Item 6] The robot arm control system of claim 1, wherein the communication module comprises a wireless transmission unit, a wired transmission unit, or a combination thereof.