KR20190097565A - Robotic machine tool having 5-DOF machining robot arm with new compensation control - Google Patents

Abstract

A five-axial degree of freedom robot arm having a correction control function of the present invention calculates a processing torque (cutting torque or breaking torque and the like) of the five-axial multi-joint robot arm used for industrial purpose in a manner which is not a conventional mechanical approach, corrects a motion position error of each joint part of the robot arm when the calculated processing torque is less than a standard processing torque and not only can it be applied to the existing industrial robot arm by improving a processing accuracy of the robot arm, but a completion of a metal 3D printer product shape is improved by incorporating a post-processing process of the newly emerging 3D printer and can shorten a manufacturing time.

Description

Robotic machine tool including multi-degree-of-freedom 5-axis robot arm with compensation control function {Robotic machine tool having 5-DOF machining robot arm with new compensation control}

The present invention relates to a robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function. More particularly, the present invention relates to a 5-axis articulated robot arm for industrial use in a non-mechanical manner. It is an invention for calculating the machining torque (cutting torque, breaking force torque, etc.) and correcting the movement position error of the robot arm when the calculated machining torque falls below the reference machining torque.

That is, the present invention reflects the load torque of the robot arm joint to process the product by 5-axis motion, modifies the machining path in real time, and corrects the calculated position error to improve the machining accuracy of the robot arm.

In addition, the present invention is an invention to improve the processing accuracy of the robot arm only purely control technology of the robot arm without additional configuration.

In addition, the present invention is not only applied to the existing industrial robot arm, but also by incorporating the post-processing process of the 3D printer, which is in the limelight, to improve the completeness of the shape of the metal 3D printer product and reduce the production time.

Due to the development of science and technology, there are many developments in the field of robots, and various industrial robots such as assembly robots and automatic welding robots in unmanned factories, as well as military and research robots such as minesweeping robots, unmanned exploration robots and deep-sea diving robots. Has been developed and used.

In particular, due to the development of precise robot control technology, the importance of robots in our industry is increasing day by day due to the stability of replacing the workforce in dangerous sites and the productivity and efficiency of various precision work. It is becoming important.

Meanwhile, in the case of industrial robots, in order to produce various types of precise workpieces, various types of robot arm types capable of multi-joint movements with large degrees of freedom such as 5-axis and 6-axis as well as 3-axis motion control have been developed. These robotic arms are designed to move as closely as possible to human hands.

However, the robot arm has an increased positional error in machining operation in proportion to the increased degree of freedom of the articulated joint movement, and cumulative errors are continuously generated due to the machinability due to the mechanical properties of the workpiece. There was a problem that the position error occurring at the end becomes large.

Accordingly, various techniques for precise control of the robot arm have been developed. The following are the related arts.

1. 6 axis arm device for service robot of Korea Patent Publication No. 10-2010-0007203 The invention of the prior art document 1 relates to a six-axis arm device for a service robot to minimize the failure or damage of the articulated arm having a structure and function similar to the arm of a human body. However, since the invention of the prior art document 1 uses a torque limiter attached to the drive shaft to prevent the overload of the articulated arm, the configuration cost is further increased, and because of the mechanical control method, there is a concern that a continuous shock is transmitted to the product. have. 2. Republic of Korea Patent Publication No. 10-2012-0022318 multi-axis vertical articulated robot The invention of the prior art document 2 relates to a multi-axis vertical articulated robot that can contribute to the minimization of the influence of gravity to enable the application of a small motor to the robot axis of rotation relatively, thereby minimizing the space of the robot mechanism, the weight of the robot. However, since the invention of the prior art document 2 is an automatic welding robot, the field to be applied is narrow, and many components are required to be costly as well as controlled by mechanical elements, so that a continuous impact is transmitted to the product. There is. 3. 6 axis vertical articulated robot for high temperature environment work The invention of the prior art document 3 relates to a six-axis vertical articulated robot for high temperature environment work with heat insulation and cooling functions to prevent damage to components such as motors and electrical wiring due to high temperatures when working in a high temperature environment. However, the invention of the prior art document 3 has a number of configurations for protecting the 6-axis vertical articulated robot in a high temperature working environment is bad economical, the disadvantage that the technology for precisely controlling the 6-axis motion control of the robot is not applied have.

The present invention is to solve the above problems, the present invention is to calculate the machining torque in a non-mechanical manner to the 5-axis articulated robot arm for industrial use and the calculated machining torque is less than the standard machining torque The purpose is to correct the movement position error of the robot arm during the test.

In addition, an object of the present invention is to improve the processing accuracy of the robot arm by reflecting the load torque of the robot arm joint part processing the product by 5-axis motion, modifying the machining path in real time, and correcting the calculated position error .

It is also an object of the present invention to improve the processing accuracy of the robot arm only with the control technology of the robot arm purely without any additional configuration.

In addition, the present invention is not only applied to the existing industrial robot arm, but also to improve the completeness of the metal 3D printer product shape and shorten the manufacturing time by applying to the post-processing process of the new 3D printer.

In order to achieve the above object, a robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function,

A robot arm 100 which is attached to a tool 112 for processing a workpiece and moves in multiple joints by a driving force transmitted from the power generating unit 200;

A power generator 200 for generating and transmitting power for the articulated movement of the robot arm 100;

A torque sensing unit (300) for detecting joint torque generated at each joint during the articulated movement of the robot arm (100) and transmitting it to the control unit (500);

A body portion 400 which provides a space in which each component is installed and supports each component;

Using the joint torque of each joint part received from the torque sensing unit 300 to calculate the current machining torque and compare the calculated current machining torque and the reference machining torque, the robot arm part so that the current machining torque becomes the reference machining torque ( Control unit 500 for calculating the required angle, the required angular velocity, the required angular acceleration of each joint portion, and corrects the movement position error of the robot arm 100 according to the calculated required angle, required angular velocity, and required angular acceleration of each joint portion. It characterized by including).

The robot processing machine including the multi-degree of freedom 5-axis robot arm having the correction control function of the present invention calculates the processing torque of the 5-axis articulated robot arm for industrial use in a manner different from the conventional method, and calculates the calculated processing torque. The robot arm's motion position error is compensated when it falls short of the standard machining torque, enabling the production of high quality products by precise machining.

In addition, the present invention reflects the load torque of the robot arm joint to process the product by the 5-axis motion, modify the machining path in real time, and correct the calculated position error to improve the machining accuracy of the robot arm to position error Product damage or failure due to processing can be prevented.

In addition, since the present invention improves the processing accuracy of the robot arm only by the control technology of the robot arm purely without any additional configuration, it does not require a separate configuration, so it is economical and the weight of the product can be reduced, and the power consumption is also reduced. Less maintenance is also advantageous.

In addition, the present invention can be applied not only to the existing industrial robot arm, but also to the post-processing process of the 3D printer, which is newly attracting attention, to improve the completeness of the shape of the metal 3D printer product and shorten the manufacturing time. Is also high.

1 is a perspective view of a robot processing machine including a multiple degree of freedom 5-axis robot arm having a correction control function of the present invention.
Figure 2 is a block diagram of a robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention.
Figure 3 is a detailed block diagram of a robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention.

Embodiments of the present invention as described above will be described in detail with reference to FIGS. 1 to 3.

Robotic processing machine (hereinafter referred to as 'robot processing machine') including a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention predicts the cutting force by a method other than the conventional mechanical method, thereby reducing the positional error due to the movement of the robot arm. It is an invention that enables the production of high quality products by precise processing because of the correction.

Therefore, an embodiment of a robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention will be described in detail as follows.

1 is a perspective view of a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention, Figure 2 is a block diagram of a multi-degree of freedom 5-axis robot arm having a correction control function of the present invention, Figure 3 It is a detailed block diagram of the multiple degree of freedom 5-axis robot arm which has the correction control function of this invention.

1 and 2, the robot processing machine 10 of the present invention reflects the load torque of the robot arm joint part for processing the workpiece by 5-axis motion, corrects the machining path in real time, and corrects the calculated position error. The robot arm 100, the power generating unit 200, the torque sensing unit 300, the body portion to the invention to prevent damage or failure of the product due to the machining due to the position error because it improves the machining accuracy of the robot arm 400, the control unit 500 is configured.

2 and 3, the robot arm 100 is a tool 112 for processing the workpiece 20 is attached, the movement to the articulated joint by the driving force transmitted from the power generating unit 200 In order to perform the 5-axis motion for the multiple degrees of freedom, the robot hand 110, the first joint link 120, the first rotary link 130, the second joint link 140, the third joint link 150 And a second rotary link 160.

Here, the robot arm 100 includes a first rotary link 130 and the second rotary link 160, which is two rotary parts for 5-axis movement, the first joint link (three joints) for the joint motion ( 120), the second joint link 140, the third joint link 150, the 5-axis motion of the robot processing machine 10 of the present invention is capable of a high degree of freedom by the rotation and joint motion of the configuration It is to enable precise product processing.

The robot hand 110 is a part to which the tool 112 for processing the workpiece 20 is attached, and includes a tool module 111 and a tool 112.

Here, the tool module 111 is a configuration in which the tool 112 for processing the workpiece is detachable, the tool 112 is detached to the tool module 111, the processing means for processing the workpiece, the workpiece The tool 112 is replaced according to the type, material or work process of the part 20.

Therefore, the coupling portion of the tool module 111 and the tool 112 is characterized in that it can be quickly replaced by applying a rotation coupling method of the male and female screws, respectively.

Through this, the robot processing machine 10 of the present invention is capable of performing various tasks and processes through the 5-axis movement and the tool 112 of the robot hand 110 having a high degree of freedom, thereby replacing the existing industrial robot arm. In addition, it is possible to improve the completeness of the shape of the metal 3D printer product and shorten the manufacturing time by applying to the post-processing process of the 3D printer, which is newly attracting attention, and thus has high industrial availability.

The first joint link 120 is configured to move the robot hand 110 up and down by the power received from the first power transmission device 210 of the power generator 200, the torque sensing unit 300 The first torque detector 310 detects the torque generated by the first joint link 120 and transmits it to the control unit 500.

The first rotary link 130 is configured to rotate the first joint link 120 by the power received from the second power transmission device 220 of the power generating unit 200, the torque sensing unit 300 The second torque detector 320 detects the torque generated by the first rotary link 130 and transmits the detected torque to the controller 500.

The second joint link 140 is configured to move the first rotary link 130 up and down by the power received from the third power transmission device 230 of the power generating unit 200, the torque sensing unit The third torque detector 330 of 300 detects the torque generated by the second joint link 140 and transmits it to the control unit 500.

The third joint link 150 is configured to move the second joint link 140 up and down by the power transmitted from the fourth power transmission device 240 of the power generator 200, and a torque sensing unit The fourth torque detector 340 of 300 detects the torque generated by the third joint link 150 and transmits it to the control unit 500.

The second rotary link 160 is configured to rotate the third joint link 150 by the power transmitted from the fifth power transmission device 250 of the power generating unit 200, the torque sensing unit 300 The fifth torque detector 350 detects the torque generated by the second rotary link 160 and transmits it to the controller 500.

The power generator 200 is a power generator for generating and transmitting power for the articulated movement of the robot arm 100,

First power transmission device 210 for transmitting power for the up and down movement of the first joint link 120, and second power transmission device 220 for transmitting power for the rotational movement of the first rotary link (130). And, the third power transmission device 230 for transmitting the power for the vertical movement to the second joint link 140, and the fourth power transmission device for transmitting the power for the vertical movement of the third joint link 150 ( 240 and a fifth power transmission device 250 for transmitting power for the rotational movement of the second rotary link 160.

That is, the components are the robot hand 110, the first joint link 120, the first rotary link 130, the second joint link 140, and the third joint link 150, which are the components of the robot arm 100. ), By providing the power necessary for the movement of the second rotary link 160 to enable the 5-axis movement of the robot arm (100).

At this time, the device applied to the power generating unit 200 may be applied by selecting a hydraulic motor or an electric motor, the electric motor is easy to maintain and quick operation is applied first.

In addition, if the user wants precise control among the electric motor, a stepping motor and a servo motor can be applied, and if a small size and light weight are directly mounted on the joint portion of the robot arm 100, the in-wheel motor capable of power transmission (in-wheel) Motors can be applied or can be used in combination with each other, so the user considers the advantages and disadvantages of each electric motor.

The torque detecting unit 300 is a configuration for detecting the torque generated in each joint portion during the articulated movement of the robot arm 100 to transmit to the control unit 500,

A first torque sensor 310 for detecting torque generated from the first joint link 120 and providing the detected torque value to the controller;

A second torque sensor 320 which senses the torque generated by the first rotary link 130 and provides the detected torque value to the controller;

A third torque sensor 330 for detecting torque generated from the second joint link 140 and providing the detected torque value to the controller;

A fourth torque sensor 340 which detects torque generated by the third joint link 150 and provides the detected torque value to the controller;

And a fifth torque sensor 350 that senses the torque generated by the second rotary link 160 and provides the sensed torque value to the controller.

In particular, the torque sensor applied to the torque sensing unit 300 is selected and applied among a magnetostrictive torque sensor, a strain gauge type torque sensor, and a phase difference detecting torque sensor.

Referring to FIG. 3, the body 400 includes a power generator 200, a torque sensing unit 300, and a controller 500 to provide a space in which each component is installed, and a robot configured at an upper side thereof. It functions as a main body supporting the arm 100.

Therefore, the body portion 400 may be applied to a metal material or a synthetic resin having excellent mechanical properties that can withstand the load of the respective components and the resistance that the robot arm 100 receives while processing the workpiece 20.

Here, the control unit 500 calculates the current machining torque by using the joint torque of each joint part received from the torque sensing unit 300, and compares the calculated current machining torque and the reference machining torque to determine the current machining torque. Calculate the required angle, the required angular velocity, the required angular acceleration of each joint portion to be the reference machining torque, and the motion of the robot arm 100 according to the calculated required angle, required angular velocity, and required angular acceleration of each joint portion. It is the configuration to correct the position error.

In this case, the reference machining torque is a value set in advance, and means a torque required for processing the workpiece currently being processed by the tool 112.

If the machining torque generated by the tool 112 for processing the current workpiece is less than the reference machining torque, normal workpiece machining (cutting or crushing, etc.) is not performed.

When the current machining torque is less than the reference machining torque, the current processing torque is not a power problem for generating the processing torque in most cases, but the generated power is finally processed in the tool 112 attached to the robot arm 100. It is a problem of a mechanism for transmitting power, and more specifically, a position problem of each joint constituting the robot arm 100.

That is, in general, the power generated and transmitted from the power generator is a power capable of generating a reference machining torque, but the power cannot be properly transmitted due to an incorrect position problem of each joint constituting the robot arm 100 during the transmission process. The phenomenon below the standard machining torque occurs.

Therefore, the present invention senses the torque generated in each joint portion and calculates the current machining torque using the detected torques in each joint portion, and if the calculated current machining torque falls below the reference machining torque, the current machining torque is the reference. It is characterized by correcting the position of each joint constituting the lot arm portion 100 so as to be a processing torque.

That is, the controller 500 of the present invention calculates the current machining torque by using the joint torque of each joint part received from the torque sensing unit 300, and compares the calculated current machining torque with the reference machining torque to determine the current machining torque. Calculate the required angle, the required angular velocity, the required angular acceleration of each joint portion to be the reference processing torque, and according to the calculated required angle, required angular velocity, and required angular acceleration of each joint portion of the robot arm 100 It is to correct the movement position error.

Therefore, the robot processing machine 10 of the present invention operates in the form of a manipulator in a manner of predicting the machining torque in real time and correcting the torque that is insufficient compared to the reference machining torque. Since the position error is corrected, the processing accuracy of the robot arm is improved without any additional configuration, so no additional configuration is required, so it is economical and the weight of the product can be reduced. will be.

To this end, the control unit 500,

A processing torque calculator 510 which receives torque sensing values from the first to fifth torque sensing units 310 to 350 of the torque sensing unit 300, and calculates a current machining torque using the received torque sensing values;

Comparing the calculated current machining torque with a preset stored reference machining torque, and when the current machining torque is less than the reference machining torque, the necessity of each joint part of the robot arm 100 to make the current machining torque the reference machining torque A motion error information generation unit 520 for calculating an angle, a required angular velocity, and a required angular acceleration;

The first joint link 120 and the first rotary link 130 of the robot arm 100 according to the required angle, required angular velocity, and required angular acceleration of each joint portion of the robot arm 100 generated by the motion error information generator 520. ) And a motion error correction unit 530 for correcting a motion position error of the second joint link 140, the third joint link 150, and the second rotary link 160.

Although the technical spirit of the present invention has been described above with reference to the accompanying drawings, this is intended to exemplarily describe preferred embodiments of the present invention and not to limit the present invention. In addition, it is obvious that any person skilled in the art can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

10: robot arm
20: Workpiece
100: robot arm
200: power generating unit
300: torque sensing unit
400: body
500: control unit

Claims (5)

In the robot processing machine including a multi-degree of freedom 5-axis robot arm having a correction control function,
A robot arm 100 which is attached to a tool 112 for processing a workpiece and moves in multiple joints by a driving force transmitted from the power generating unit 200;
A power generator 200 for generating and transmitting power for the articulated movement of the robot arm 100;
A torque sensing unit (300) for detecting joint torque generated at each joint during the articulated movement of the robot arm (100) and transmitting it to the control unit (500);
A body portion 400 which provides a space in which each component is installed and supports each component;
The control unit 500 for correcting the movement position error of the robot arm unit 100 by using the joint torque of each joint portion received from the torque sensing unit 300, characterized in that it has a multiple control function A robotic processor comprising a 5-axis robotic arm. The method according to claim 1,
The robot arm 100,
A robot hand 110 to which a tool 112 for processing a workpiece is attached;
First joint link 120 for moving the robot hand 110 up and down by the power received from the power generating unit 200,
A first rotary link 130 for rotating the first joint link 120 by the power received from the power generator 200;
The second joint link 140, which moves the first rotary link 130 up and down by the power transmitted from the power generating unit 200,
The third joint link 150 for moving the second joint link 140 up and down by the power received from the power generating unit 200,
The second rotating link 160, which is supported on the upper side of the body 400, rotates the third joint link 150 by the power transmitted from the power generating unit 200, characterized in that it comprises a A robotic machine comprising a multi-degree of freedom 5-axis robot arm with a control function. The method according to claim 2,
The power generator 200 is,
A first power transmission device 210 for transmitting power for vertical movement of the first joint link 120;
A second power transmission device 220 for transmitting power for the rotational movement of the first rotary link 130,
A third power transmission device 230 for transmitting power for vertical movement to the second joint link 140;
A fourth power transmission device 240 for transmitting power for vertical movement of the third joint link 150;
And a fifth power transmission device (250) having a correction control function, characterized in that it comprises a fifth power transmission device (250) for transmitting power for the rotational movement of the second rotary link (160). The method according to claim 2,
The torque sensing unit 300,
A first torque sensor 310 for detecting torque generated from the first joint link 120 and providing the detected torque value to the controller;
A second torque sensor 320 which senses the torque generated by the first rotary link 130 and provides the detected torque value to the controller;
A third torque sensor 330 for detecting torque generated from the second joint link 140 and providing the detected torque value to the controller;
A fourth torque sensor 340 which detects torque generated by the third joint link 150 and provides the detected torque value to the controller;
A multi-degree of freedom 5-axis robot arm having a correction control function comprising a fifth torque sensor 350 for detecting torque generated from the second rotary link 160 and providing the detected torque value to the controller. Robot processing machine comprising a.
The method according to claim 2,
The robot hand 110,
A tool module 111 to which a tool 112 for processing a work piece is detached,
Detachable to the tool module 111, and includes a tool 112 for processing the workpiece,
The tool 112 is a robot processor including a multi-degree of freedom 5-axis robot arm having a correction control function, characterized in that the replacement according to the type or work process of the workpiece.

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