KR20180103612A - System and method for supplying replacing different kinds part of scara robot - Google Patents

Abstract

According to an embodiment of the present invention, provided is a method for providing a replacement manual for multiple components of a SCARA robot. The method comprises the following steps of: replacing partial components of the SCARA robot with components having a new parameter in accordance with the replacement manual for multiple components so as to assemble a new type of SCARA robot; operating the new type of SCARA robot and then collecting operation data via LabVIEW; and analyzing the operation data so as to check whether or not the operation of the new type of SCARA robot is normal.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a SCARA robot,

The present invention relates to a system and method for providing various parts replacement manuals of a SCARA robot, and more particularly, to a system and method for providing a SCARA robot in which a plurality of parts of a SCARA robot are replaced with different parts in a real- The present invention relates to a system and a method for allowing a scara robot to assemble and to confirm whether the operation of a new scara robot assembled is normal.

Currently, robots are playing an increasing role in industrial fields that require precise control such as robots and machine tools, and their application range is also increasing, and they are being used in ultra-precise work requiring precision within an error range of a few micrometers.

SCARA (Selective Compliance Assembly Robot Arm: SCARA) is used for many automation processes such as electronic component assembly, insert part, screw fastening, and component transfer. As the precision of the parts increases, we are continuously trying to develop the SCARA robot to shorten the cycle time and increase the precision as much as possible.

In some cases, some parts of the SCARA robot may need to be replaced with parts of completely different parameters depending on the purpose of using the robot.

So far, manuals have been provided mainly for manipulating and using SCARA robots in workshops and training rooms. Therefore, if the robot parts have to be replaced at the work site or training site, they have to take them to a professional workshop or replace SCARA robots by experts.

However, this replacement method interferes with the work flow in the work place or the education field, and unnecessary waste of time and labor occurs, so that anyone can easily make robot parts in the work place or the education field as new parameter parts A system is needed to replace the new SCARA robot.

Korean Patent No. 10-0664483 (Feb. 25, 2000, entitled "Scara Robot with Optional Assembly Robot Arm According to Command")

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-described problems of the prior art, and it is an object of the present invention to provide a multifarious type of scara robot which enables a new scara robot to be assembled and replaced by replacing parts of a robot with new- And to provide a system and method for providing parts replacement manuals.

In order to achieve the above object, according to an aspect of the present invention, there is provided a method of providing a multi-component replacement manual for a scarab robot, comprising: replacing parts of the scarar robot with parts having new parameters in accordance with a multi- Assembling the new kind of scara robot, operating the new kind of scara robot, collecting operation data through labview, and analyzing the operation data to confirm whether the operation of the new kind of scara robot is normal.

In addition, the present invention is characterized by including a computer-readable recording medium on which a program for causing a computer to execute the above-described method is recorded.

In order to achieve the above object, according to another aspect of the present invention, there is provided a system for providing a multi-part replacement manual for a scarab robot, comprising: a plurality of parts for replacing parts of the scarab with parts having new parameters, A manual for providing a replacement manual, and a simulation unit for operating the new type of scara robot, analyzing labor data for collecting operation data, and checking whether the operation of the new kind of scara robot is normal.

According to the present invention configured as described above, according to the multi-part manual providing system of the SCARA robot based on LabVIEW, anyone can easily replace the robot part with the new parameter part in real time at the work place or the training site to assemble the new SCARA robot , It is possible to confirm whether the assembly result is normal.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram showing a configuration of a multi-part replacement manual providing system of a scara robot according to an embodiment of the present invention; FIG.
2 is a view showing a scara robot according to an embodiment of the present invention.
FIG. 3 shows a setup configuration diagram of a multi-part replacement manual providing system of a scara robot according to an embodiment of the present invention.
4 is a diagram showing a specific configuration of a scara robot according to an embodiment of the present invention.
5 is a diagram showing a parts list of the SCARA robot according to an embodiment of the present invention, together with an image, a part number, a part name, and the like of each part.
6A to 6E illustrate an example manual for explaining the assembly method according to an embodiment of the present invention in a time-series manner.
FIG. 7 is a flowchart illustrating a method of providing a multi-component replacement manual for a scara robot according to an embodiment of the present invention.
8 to 12 are views showing an example of a simulation of a multi-component replacement manual system of a scara robot according to an embodiment of the present invention.

The present invention may have various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, the present invention will be described with reference to the drawings.

2 is a view showing a scara robot according to an embodiment of the present invention, and Fig. 3 is a view showing a scara robot according to an embodiment of the present invention. Fig. Shows a setup configuration diagram of a multi-part replacement manual providing system of a scara robot according to an embodiment of the present invention.

Referring to FIG. 1, a system 100 for providing multiple parts replacement manuals of a scara robot according to an embodiment of the present invention includes a manual supply unit 110, a labview unit 130, and a simulation unit 150.

The manual supply unit 110 provides a multiple part replacement manual for assembling a new kind of scara robot by replacing some parts of the scara robot with parts having new parameters.

 The manual providing unit 110 starts a multi-part list corresponding to the same position of the scara robot as a multiple-part replacement manual, together with an image, a part number, a part name and a new parameter, A part name, a part number, and a parts function description. Where the new parameters include at least one of the size, weight, and minimum to maximum work radius of the part.

Specifically, the manual feeder 110 may provide a manual for replacing at least one of the arms of M stages having different parameters or the N stages of grips having different parameters to the scalar robot.

The arms of 1 to M stages can be regarded as cancer of different standards in vertical and horizontal distance, mass, moment and mass center from the driving motor.

The grips 1 to N may be grips having different sizes, weights, structures, and components of the grip members.

The labview 130 operates a new kind of SCARA robot that has been replaced with a component having a new parameter according to the multi-part replacement manual of the manual feeder 110, and collects operation data. To do this, the labview 130 may first provide an input execution window that inputs information about at least one of the size, weight, and distance from the center of gravity corresponding to each step of the arm or grip being replaced.

Thus, the collected motion data may be data completely different from that of the original SCARA robot before the part is replaced.

The labview 130 is an operation data changed for replacement of the arm or the grip input to the input execution window, and includes a coordinate-based motion path for the new type of scara robot, a working radius, At least one of the change in torque of the arm, the acceleration force, the coriolis force, and the centrifugal force can be collected.

The simulation unit 150 analyzes the operation data acquired through the labview 130 to check whether the operation of the new kind of scara robot is normal. That is, at least one of the range of the working radius of the lightly scara robot, the coordinate-based movement path, the time required for the movement, the change in the torque of the arm, the acceleration force, the coriolis force and the centrifugal force is analyzed to confirm whether the new scara robot is operating normally .

FIG. 5 is a view for explaining a parts list of the SCARA robot according to an embodiment of the present invention, together with an image, a part number, a part name, and the like. FIGS. 6A to 6E show an assembly method according to an embodiment of the present invention And an illustrative manual for explaining the operation in a thermal manner.

For example, as shown in Fig. 5, the multi-part replacement manual of the SCARA robot discloses the parts list together with an image, a part number, a part name and a new parameter of each part corresponding to the step of the part, 6e, along with an image or part name, a part number, and a voice describing how to assemble.

8 to 12 are views showing an example of a simulation of a part replacement manual providing system of a scara robot according to an embodiment of the present invention.

Specifically, according to the multiple part replacement manual, a simulation is performed to verify whether the scara robot is normally driven even when the parts are replaced with parts having completely different parameters. In the present invention, this is referred to as an optimization simulation. When a predetermined operation and a speed mode are set by the labview to execute the optimization simulation, the SCARA robot is driven according to the setting and the operation data is collected according to the driving. The motion data may include at least one of a coordinate-based motion path, a time required for movement, a change in torque of the arm, an acceleration force, a coriolis force, and a centrifugal force. The analysis of the collected operation data based on the parts replacement manual can confirm that the operation of the new kind of SCARA robot is normal.

When the operation for the experiment and the speed mode are set, the simulation unit 150 reads the acceleration / deceleration value and the zerg speed value set by the LabVIEW-based program, and then executes the execution when the SCARA robot executes the driving according to the setting conditions And then collects the operation data performed according to the setting value after reading the setting value for the new operation when there is an additional operation.

The simulation unit 150 may output an image, a part image, and a part number describing at least one of the parameter, the normal operation range, and the error correction method for the part replaced with the new parameter to the display unit.

3 is a diagram illustrating a device setup configuration of a multi-part replacement manual supply system of a SCARA robot according to an embodiment of the present invention.

3, a device setup configuration of a multi-component replacement manual providing system of a scara robot according to an embodiment of the present invention includes a labview device 111, a power supply 113, a servo drive 115, and a display monitor 117 ).

The power supply 113 serves to supply power to other devices, and the servo drive 115 is a power device for moving the servo motor. The display monitor 117 outputs the operation data collected by the labview and the driving simulation of the scara robot.

4 is a diagram showing a specific configuration of a scara robot according to an embodiment of the present invention.

Referring to Fig. 4, the scara robot 10 is a robot having an assembling robot arm selectively compliant with a command, and is a robot having multiple joint arms that can be moved in a generally horizontal plane. More specifically, the SCARA robot 10 includes a first arm having one end articulated to the robot's base, a second arm having one end articulated to the opposite end of the first arm, And an R-axis rotatably mounted on the free end so as to be rotatably operable for operation. In addition to the three articulated axes, the base can be moved vertically to the robot arm, which is typically comprised of three or four axes. The SCARA robot is operated by the servo motor.

Specifically, the SCARA robot 10 includes a base 1, an encoder combination motor 2, a base column 3, a base 4, a biaxial arm 5, a triaxial column 6, an LN guide 7, a flanged linear bush 8, a ball screw 9, a moving plate 10, a three-axis poly 11, a three-axis set screw 12, a four-axis set collar 13, 4-axis motor end cap 17, timing belt 18, four-axis motor shaft 17, four-shaft motor bracket 16, four-shaft bearing holder 17, lock nut 18, four- , 3-axis bearing housing 23, 3-axis motor reducer 24, 3-axis motor bracket 25, 3-axis poly motor shaft 24, 3-axis motor bracket 26, The bushing column 28, the biaxial arm 29, the flexible tube 30, the thrust needle bearing 31, the washer 32, the base extrusion case rear face 33, the base extrusion case front face 34, A plate member 35, a biaxial-arm extrusion case 36, a biaxial-rock plate member 37, and a gripper 38.

According to the embodiment of the present invention, it is possible to provide a multi-part replacement manual which can be replaced with a completely new parameter part for each of the above parts, and to provide a new kind of scara So that the robot can be assembled. In addition, a new type of SCARA robot is operated and operation data is collected through a labview, and the collected operation data is analyzed to confirm whether the operation is normal.

FIG. 7 is a flowchart illustrating a method of providing a multi-component replacement manual for a scara robot according to an embodiment of the present invention.

FIG. 7 is a flowchart illustrating a method of providing a multi-component replacement manual for a scarab robot according to an embodiment of the present invention. First, according to a multi-component replacement manual, some components of a scarar robot are replaced with components having a new parameter, (S710). To this end, the manual providing unit 110 provides various parts replacement manuals for assembling a new kind of scara robot by replacing some parts of the scara robot with parts having new parameters.

 The manual providing unit 110 starts a multi-part list corresponding to the same position of the scara robot as a multiple-part replacement manual, together with an image, a part number, a part name and a new parameter, A part name, a part number, and a parts function description. Where the new parameters include at least one of the size, weight, and minimum to maximum work radius of the part.

Specifically, at least one of the arms of M stages having different parameters or the N stages of grips having different parameters may be replaced and replaced with the scalar robot.

Next, a new kind of scara robot is operated, and operation data is collected through a labview (S720). To this end, when the operation for the experiment and the speed mode are set, after the LabVIEW-based program reads the set acceleration / deceleration value and the zerg speed value, when the scara robot executes the driving according to the setting condition, Collects the data, and thereafter reads the set value for the new operation when there is an additional operation, and further collects the performed operation data according to the set value. On the other hand, when there is no additional operation, the operation data collection execution is terminated.

The step of operating the new type of scara robot may further include inputting information about at least one of a size, a weight, and a distance from the center of gravity corresponding to each step of the replaced arm or grip to the labview .

Next, the operation data is analyzed to check whether the operation of the new kind of scara robot is normal (S730). Here, the parts replaced with the new kind of parts among the whole parts of the scara robot are displayed, and the new parameters of the replacement target are displayed.

Specifically, according to the multiple part replacement manual, a simulation is performed to verify whether the scara robot is normally driven even when the parts are replaced with parts having completely different parameters. In the present invention, this is referred to as an optimization simulation. When a predetermined operation and a speed mode are set by the labview to execute the optimization simulation, the SCARA robot is driven according to the setting and the operation data is collected according to the driving. The motion data may include at least one of a coordinate-based motion path, a time required for movement, a change in torque of the arm, an acceleration force, a coriolis force, and a centrifugal force. The analysis of the collected operation data based on the parts replacement manual can confirm that the operation of the new kind of SCARA robot is normal.

8 to 12 are diagrams showing an example of a simulation of an adjustment manual system of a scara robot according to an embodiment of the present invention. Specifically, a simulation is performed to verify that the scara robot 10 corrects the error, if the error has been corrected by the user, when the error has been corrected, when the component has been replaced, or when the component modules are newly assembled. In the present invention, this is referred to as an optimization simulation. When the predetermined operation and the speed mode are set by the labview 110 to execute the optimization simulation, the scara robot 10 is driven according to the setting and the exercise data is collected according to the driving. The motion data may include at least one of a coordinate-based motion path, a time required for movement, a change in torque of the arm, an acceleration force, a coriolis force, and a centrifugal force. It is possible to confirm whether the operation of the SCARA robot 10 is normal by analyzing the collected exercise data.

According to the present invention configured as described above, according to the multi-part manual providing system of the SCARA robot based on LabVIEW, anyone can easily replace the robot part with the new parameter part in real time at the work place or the training site to assemble the new SCARA robot , It is possible to confirm whether the assembly result is normal.

In other words, when the 1-axis arm (27) with different length is replaced in the SCARA robot, the working radius is changed and actually a new SCARA robot is formed. By using this length variation as a new parameter, one SCARA robot is changed into various types of SCARA robots Can be used.

So far, there have been techniques for replacing almost the same level of components with the same level of components due to failure or aging, and testing the operation of the replaced parts. However, as the scope of the SCARA robot increases According to the embodiment of the present invention, even if the operator does not have to completely replace the SCARA robot, parameters of components having different levels of each component are directly replaced and assembled in the field, and the assembled new parameters are inputted, It is possible to check whether the robot is operating normally.

Meanwhile, the embodiments of the present invention can be embodied as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily deduced by programmers skilled in the art to which the present invention belongs.

The present invention has been described above with reference to various embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Scara robot
100: SCARA Robot's multi-part replacement manual system
110: Manual Offering
130: LabVIEW
150:

Claims (8)

In the method of providing the SCARA robot's multiple parts replacement manual,
Assembling a new kind of SCARA robot by replacing some parts of the SCARA robot with parts having a new parameter according to a multiple part replacement manual;
Operating the new kind of scara robot and collecting operation data through a labview; And
And analyzing the operation data to determine whether the operation of the new kind of scara robot is normal. The method according to claim 1,
The step of assembling the new kind of scara robot comprises:
The size, weight, structure, and components of the M-level arms or grip members of different standards having vertical and horizontal distances, masses, moments, and mass centers from the drive motor are different from each other by at least one of the N- Wherein the SCARA robot is assembled by being replaced with the SCARA robot. 3. The method of claim 2,
The step of operating the new species of scara robot comprises:
Further comprising inputting information about at least one of size, weight and distance from the center of gravity of the replaced arm or grip to the LabVIEW. The method of claim 3,
Wherein collecting the operational data comprises:
A scara robot for collecting at least one of a range of the working radius of the scara robot changed for the replacement of the arm or the grip, a movement path based on the coordinate, a time required for the movement, a change in the torque of the arm, an acceleration force, a coriolis force and a centrifugal force How to provide manual parts replacement. 5. The method according to any one of claims 1 to 4,
A computer-readable recording medium on which a program for causing a computer to execute the above-described method is recorded. In the SCARA robot multi-part replacement manual providing system,
A manual providing means for replacing some parts of the scara robot with parts having new parameters to provide a multiple part replacement manual for assembling a new kind of scara robot;
A labview for operating the new kind of scara robot and collecting operation data;
And a simulation unit for analyzing the operation data and checking whether the operation of the new kind of scara robot is normal. The method according to claim 6,
The manual-
The size, weight, structure, and components of the M-level arms or grip members of different standards having vertical and horizontal distances, masses, moments, and mass centers from the drive motor are different from each other by at least one of the N- And a manual for replacing and assembling the SCARA robot. The method according to claim 6,
The manual-
A method of displaying the multifunction component list corresponding to the same position of the scarab robot as the multiple component replacement manual together with the image, part number, part name and new parameter of each component and assembling the new component by replacing it Wherein the new parameter includes at least one of a size, a weight, and a minimum or a maximum working radius of the component, wherein the new parameter includes an image, a part name, a part number, and a part function description.

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