TWI651176B - Robot arm processing system and method thereof - Google Patents
Robot arm processing system and method thereof Download PDFInfo
- Publication number
- TWI651176B TWI651176B TW106145429A TW106145429A TWI651176B TW I651176 B TWI651176 B TW I651176B TW 106145429 A TW106145429 A TW 106145429A TW 106145429 A TW106145429 A TW 106145429A TW I651176 B TWI651176 B TW I651176B
- Authority
- TW
- Taiwan
- Prior art keywords
- unit
- robot arm
- workpiece
- processing
- reaction force
- Prior art date
Links
Landscapes
- Manipulator (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
一種機械手臂加工系統,包括一機械手臂、一加工模組以及一控制模組。機械手臂用以提供一機械固持力。加工模組設置於機械手臂上,用以對一工件加工。控制模組連接機械手臂或加工模組,控制模組根據工件的反作用力或機械手臂的位移量對應輸出一反動訊號,以抵消工件的反作用力或機械手臂的位移量。 A robotic arm processing system includes a robot arm, a processing module, and a control module. The robot arm is used to provide a mechanical holding force. The processing module is disposed on the robot arm for processing a workpiece. The control module is connected to the robot arm or the processing module. The control module outputs a reaction signal according to the reaction force of the workpiece or the displacement of the robot arm to offset the reaction force of the workpiece or the displacement of the robot arm.
Description
本發明是有關於一種加工系統,且特別是有關於一種機械手臂加工系統及其加工方法。 This invention relates to a processing system, and more particularly to a robotic arm processing system and method of processing the same.
機械手臂具有高自由度、移動範圍大及操作靈活度高等優點,然而,機械手臂的剛性不足,若以機械手臂進給並直接對工件進行加工,機械手臂會因為加工的反作用力的影響,使得機械手臂產生變形,因此影響加工精度。 The robot arm has the advantages of high degree of freedom, large moving range and high flexibility of operation. However, the rigidity of the robot arm is insufficient. If the robot arm is fed and the workpiece is directly processed, the robot arm will be affected by the reaction force of the machining. The mechanical arm is deformed, thus affecting the machining accuracy.
有鑑於此,如何避免機械手臂產生變形,以提高機械手臂加工系統的加工精度,實為業界亟待解決的問題。 In view of this, how to avoid deformation of the robot arm to improve the machining accuracy of the robot arm processing system is an urgent problem to be solved in the industry.
本發明係有關於一種機械手臂加工系統及其加工方法,用以提高機械手臂加工系統的加工精度。 The invention relates to a mechanical arm processing system and a processing method thereof for improving the processing precision of a robot arm processing system.
根據本發明之一方面,提出一種機械手臂加工系統,包括一機械手臂、一加工模組以及一控制模組。機械手臂用以提供一機械固持力。加工模組設置於機械手臂上,用以對一工件加工。控制模組連接機械手臂或加工模組,控制模組根據工件 的反作用力或機械手臂的位移量對應輸出一反動訊號,以抵消工件的反作用力或機械手臂的位移量。 According to an aspect of the invention, a robotic arm processing system is provided, including a robot arm, a machining module, and a control module. The robot arm is used to provide a mechanical holding force. The processing module is disposed on the robot arm for processing a workpiece. The control module is connected to the robot arm or the processing module, and the control module is based on the workpiece The reaction force or the amount of displacement of the robot arm corresponds to the output of a reaction signal to counteract the reaction force of the workpiece or the displacement of the robot arm.
根據本發明之一方面,提出一種機械手臂加工方法,包括下列步驟。以一機械手臂提供一機械固持力。以設置於機械手臂上的一加工模組對一工件加工,其中加工模組包括一進給單元以及一預壓單元,進給單元包括一工具,以對工件加工,預壓單元連接機械手臂,且機械固持力經由預壓單元施加於工件上,其中機械固持力與工件的反作用力的方向相反。以一控制模組連接機械手臂,控制模組根據工件的反作用力或機械手臂的位移量對應輸出一反動訊號,以抵消工件的反作用力或機械手臂的位移量。 According to an aspect of the invention, a method of machining a robot arm is provided, comprising the following steps. A mechanical arm is used to provide a mechanical holding force. Processing a workpiece by a processing module disposed on the robot arm, wherein the processing module includes a feeding unit and a pre-pressing unit, the feeding unit includes a tool for processing the workpiece, and the pre-pressing unit is connected to the robot arm. And the mechanical holding force is applied to the workpiece via the pre-compression unit, wherein the mechanical holding force is opposite to the direction of the reaction force of the workpiece. The mechanical arm is connected by a control module, and the control module outputs a reaction signal according to the reaction force of the workpiece or the displacement of the mechanical arm to offset the reaction force of the workpiece or the displacement of the mechanical arm.
根據本發明之一方面,提出一種機械手臂加工方法,包括下列步驟。以一機械手臂提供一機械固持力。以設置於機械手臂上的一加工模組對一工件加工,其中加工模組包括一進給單元、一預壓單元、一感測單元以及一阻抗模擬單元,進給單元包括一工具,以對工件加工,預壓單元連接機械手臂,且機械固持力經由預壓單元施加於工件上,其中機械固持力與工件的反作用力的方向相反,感測單元連接於進給單元,用以偵測進給單元對工件進行加工時輸出的一負載訊號,阻抗模擬單元設置於進給單元與機械手臂之間,阻抗模擬單元根據進給單元輸出的負載訊號評估工件的反作用力以輸出一虛擬阻抗。以一控制模組連接 阻抗模擬單元,控制模組根據虛擬阻抗輸出一反動訊號,以抵消工件的反作用力。 According to an aspect of the invention, a method of machining a robot arm is provided, comprising the following steps. A mechanical arm is used to provide a mechanical holding force. Processing a workpiece by a processing module disposed on the robot arm, wherein the processing module comprises a feeding unit, a pre-pressing unit, a sensing unit and an impedance simulating unit, the feeding unit includes a tool to The workpiece is processed, the pre-pressing unit is connected to the robot arm, and the mechanical holding force is applied to the workpiece via the pre-pressing unit, wherein the mechanical holding force is opposite to the direction of the reaction force of the workpiece, and the sensing unit is connected to the feeding unit for detecting A load signal outputted when the unit processes the workpiece, the impedance simulation unit is disposed between the feed unit and the robot arm, and the impedance simulation unit evaluates the reaction force of the workpiece according to the load signal output by the feed unit to output a virtual impedance. Connected by a control module The impedance simulation unit controls the reaction signal to output a reaction signal according to the virtual impedance to cancel the reaction force of the workpiece.
為了對本發明之上述及其他方面有更佳的瞭解,下文特舉實施例,並配合所附圖式詳細說明如下: In order to better understand the above and other aspects of the present invention, the following detailed description of the embodiments and the accompanying drawings
10‧‧‧工件 10‧‧‧Workpiece
100、101、102、103、103’、104‧‧‧機械手臂加工系統 100, 101, 102, 103, 103', 104‧ ‧ mechanical arm processing system
110‧‧‧機械手臂 110‧‧‧ Robotic arm
111‧‧‧端部 111‧‧‧End
120‧‧‧加工模組 120‧‧‧Processing module
121‧‧‧進給單元 121‧‧‧Feed unit
122‧‧‧驅動器 122‧‧‧ drive
123‧‧‧主軸馬達 123‧‧‧Spindle motor
124‧‧‧工具 124‧‧‧ Tools
125‧‧‧預壓單元 125‧‧‧Preloading unit
126‧‧‧固持平台 126‧‧‧holding platform
127‧‧‧預壓桿 127‧‧‧Preloading rod
127’‧‧‧長度可變的預壓桿 127’‧‧‧ Variable length preload lever
128‧‧‧感測單元 128‧‧‧Sensor unit
129‧‧‧感測單元 129‧‧‧Sensor unit
130‧‧‧控制模組 130‧‧‧Control Module
131‧‧‧感測單元 131‧‧‧Sensor unit
132‧‧‧阻抗模擬單元 132‧‧‧ Impedance simulation unit
133‧‧‧阻尼單元 133‧‧‧damper unit
134‧‧‧頂掛式阻尼單元 134‧‧‧Top hanging damping unit
135‧‧‧阻尼器 135‧‧‧ damper
136‧‧‧夾持結構 136‧‧‧Clamping structure
140‧‧‧座標量測單元 140‧‧‧Coordinate measuring unit
F1‧‧‧機械固持力 F1‧‧‧Mechanical holding power
F2‧‧‧反作用力 F2‧‧‧ reaction
O‧‧‧幾何中心 O‧‧·Geometry Center
VI‧‧‧虛擬阻抗 VI‧‧‧Virtual Impedance
VD‧‧‧虛擬阻尼 VD‧‧‧Virtual damping
D‧‧‧阻尼值 D‧‧‧damage value
σ‧‧‧反動訊號 Σ‧‧·reaction signal
第1A圖繪示依照本發明一實施例之機械手臂加工系統的配置示意圖。 FIG. 1A is a schematic view showing the configuration of a robot arm processing system according to an embodiment of the invention.
第1B及1C圖繪示感測單元的量測值。 Figures 1B and 1C illustrate measured values of the sensing unit.
第2A圖繪示依照本發明另一實施例之機械手臂加工系統的示意圖。 2A is a schematic view of a robotic arm processing system in accordance with another embodiment of the present invention.
第2B圖繪示感測單元的量測值。 FIG. 2B illustrates the measured value of the sensing unit.
第3A及3B圖繪示依照本發明一實施例之長度可變的預壓桿的示意圖。 3A and 3B are schematic views of a variable length preloading bar in accordance with an embodiment of the present invention.
第4圖繪示依照本發明另一實施例之機械手臂加工系統的配置示意圖。 4 is a schematic view showing the configuration of a robot arm processing system according to another embodiment of the present invention.
第5A及5B圖分別繪示依照本發明另一實施例之機械手臂加工系統的配置示意圖。 5A and 5B are respectively schematic views showing the configuration of a robot arm processing system according to another embodiment of the present invention.
第6圖繪示依照本發明另一實施例之機械手臂加工系統的配置示意圖。 FIG. 6 is a schematic view showing the configuration of a robot arm processing system according to another embodiment of the present invention.
以下係提出實施例進行詳細說明,實施例僅用以作為範例說明,並非用以限縮本發明欲保護之範圍。以下是以相同/類似的符號表示相同/類似的元件做說明。 The embodiments are described in detail below, and the embodiments are only intended to be illustrative and not intended to limit the scope of the invention. The same/similar symbols are used to describe the same/similar elements.
第1A圖繪示依照本發明一實施例之機械手臂加工系統100的配置示意圖,第1B及1C圖繪示感測單元128的量測值。在本實施例中,機械手臂加工系統100包括一機械手臂110、一加工模組120以及一控制模組130。加工模組120可包括一進給單元121、一預壓單元125以及至少一感測單元128。 FIG. 1A is a schematic diagram showing the configuration of the robot processing system 100 according to an embodiment of the present invention. FIGS. 1B and 1C are diagrams showing the measured values of the sensing unit 128. In the present embodiment, the robotic arm processing system 100 includes a robot arm 110, a processing module 120, and a control module 130. The processing module 120 can include a feeding unit 121, a pre-pressing unit 125, and at least one sensing unit 128.
請參照第1A圖,依照本發明之一實施例,進給單元121用以施加一加工力於工件10上,進給單元121可包括一驅動器122、一主軸馬達123以及一工具124。工具124例如是切削刀具、鑽孔刀具、銑刀或搪孔刀等,工具124設置在主軸馬達123的軸部上,驅動器122用以驅動主軸馬達123以及工具124往工件10移動,以對工件10進行加工。驅動器122可為氣壓缸組件、線性馬達組件或導螺桿組件等。在本實施例中,進給單元121不限定為單軸向進給單元,也可以是多軸向或多自由度進給單元。 Referring to FIG. 1A, in accordance with an embodiment of the present invention, the feeding unit 121 is configured to apply a machining force to the workpiece 10. The feeding unit 121 may include a driver 122, a spindle motor 123, and a tool 124. The tool 124 is, for example, a cutting tool, a drilling tool, a milling cutter or a boring tool. The tool 124 is disposed on a shaft portion of the spindle motor 123. The driver 122 is used to drive the spindle motor 123 and the tool 124 to move toward the workpiece 10 to face the workpiece. 10 processing. The driver 122 can be a pneumatic cylinder assembly, a linear motor assembly or a lead screw assembly, and the like. In the present embodiment, the feeding unit 121 is not limited to a uniaxial feeding unit, and may be a multi-axial or multi-degree of freedom feeding unit.
依照本發明之一實施例,進給單元121設置於預壓單元125上,預壓單元125連接機械手臂110,以使機械手臂110可經由預壓單元125施加一預壓力於工件10上。預壓單元125包括一固持平台126以及至少一預壓桿127,其中固持平台126固定在機械手臂110的端部111上,而預壓桿127設置於固持平台126靠 近工件10的一側,以使預壓桿127固定抵接於固持平台126與待加工的工件10之間。在一實施例中,預壓桿127的剛性大於機械手臂110的剛性,因此,預壓桿127相對於機械手臂110能承受較大的反作用力F2而不易變形。 According to an embodiment of the invention, the feeding unit 121 is disposed on the pre-pressing unit 125, and the pre-pressing unit 125 is coupled to the robot arm 110 such that the robot arm 110 can apply a pre-pressure to the workpiece 10 via the pre-pressing unit 125. The pre-pressing unit 125 includes a holding platform 126 and at least one pre-pressing rod 127, wherein the holding platform 126 is fixed on the end portion 111 of the robot arm 110, and the pre-pressing rod 127 is disposed on the holding platform 126. Near one side of the workpiece 10, the pre-stressing rod 127 is fixedly abutted between the holding platform 126 and the workpiece 10 to be processed. In an embodiment, the rigidity of the preloading rod 127 is greater than the rigidity of the mechanical arm 110. Therefore, the preloading rod 127 can withstand a large reaction force F2 with respect to the robot arm 110 and is not easily deformed.
依照本發明之一實施例,感測單元128可為一力感測器或一位移感測器,用以偵測工件10的反作用力F2或機械手臂110的位移量。感測單元128例如設置在進給單元121上或設置在機械手臂110上。然而,在另一實施例中,亦可分別設置具有力感測/或位置感測功能的感測單元128於進給單元121以及機械手臂110上,本發明不以此為限。 According to an embodiment of the invention, the sensing unit 128 can be a force sensor or a displacement sensor for detecting the reaction force F2 of the workpiece 10 or the displacement amount of the robot arm 110. The sensing unit 128 is provided, for example, on the feeding unit 121 or on the robot arm 110. However, in another embodiment, the sensing unit 128 having the force sensing and/or position sensing function may be separately disposed on the feeding unit 121 and the robot arm 110, and the invention is not limited thereto.
請參照第1A圖,機械手臂110提供的機械固持力F1與工件10的反作用力F2的方向相反且大於工件10的反作用力F2,即F1>F2。此外,機械手臂110提供的機械固持力F1減去工件10的反作用力F2等於預壓桿127對工件10的預壓力。 Referring to FIG. 1A, the mechanical holding force F1 provided by the robot arm 110 is opposite to the direction of the reaction force F2 of the workpiece 10 and larger than the reaction force F2 of the workpiece 10, that is, F1>F2. In addition, the mechanical holding force F1 provided by the robot arm 110 minus the reaction force F2 of the workpiece 10 is equal to the pre-pressure of the pre-pressing rod 127 to the workpiece 10.
依照本發明之一實施例,控制模組130經由感測單元128接收偵測工件10的反作用力F2或機械手臂110的位移量得到的一量測值,並根據量測值對應調整機械手臂110提供的機械固持力F1。例如,當偵測到工件10的反作用力F2(參見第1B圖的量測值)或機械手臂110的位移量(參見第1C圖的量測值)呈現一週期性震盪波時,為了避免週期性震盪波影響到加工系統100的加工精度,控制模組130連接機械手臂110以輸出與工件10的反作用力F2或機械手臂110的位移量的數值相同但方向相反的一反 動訊號σ至機械手臂110,以抵消工件10的反作用力F2或機械手臂110的位移量產生的震動,進而提高加工系統100的加工精度。 According to an embodiment of the present invention, the control module 130 receives a measurement value obtained by detecting the reaction force F2 of the workpiece 10 or the displacement amount of the robot arm 110 via the sensing unit 128, and adjusts the robot arm 110 according to the measured value. The mechanical holding force F1 is provided. For example, when it is detected that the reaction force F2 of the workpiece 10 (see the measurement value of FIG. 1B) or the displacement amount of the robot arm 110 (see the measurement value of FIG. 1C) exhibits a periodic oscillation wave, in order to avoid the cycle The shock wave affects the machining accuracy of the machining system 100, and the control module 130 is coupled to the robot arm 110 to output the same value as the reaction force F2 of the workpiece 10 or the displacement amount of the robot arm 110, but the opposite direction The motion signal σ is applied to the robot arm 110 to counteract the vibration generated by the reaction force F2 of the workpiece 10 or the displacement amount of the robot arm 110, thereby improving the machining accuracy of the machining system 100.
第2A圖繪示依照本發明一實施例之機械手臂加工系統101的配置示意圖,第2B圖繪示感測單元129的量測值。第3A及3B圖繪示依照本發明一實施例之長度可變的預壓桿127’的示意圖。在本實施例中,機械手臂加工系統101包括一機械手臂110、一加工模組120以及一控制模組130。加工模組120包括一進給單元121、一預壓單元125以及至少一感測單元129。 2A is a schematic view showing the configuration of the robot processing system 101 according to an embodiment of the present invention, and FIG. 2B is a measurement value of the sensing unit 129. 3A and 3B are schematic views of a variable length preloading bar 127' in accordance with an embodiment of the present invention. In the present embodiment, the robotic arm processing system 101 includes a robot arm 110, a processing module 120, and a control module 130. The processing module 120 includes a feeding unit 121, a pre-pressing unit 125, and at least one sensing unit 129.
本實施例與上述實施例不同之處在於:預壓單元125包含至少一長度可變的預壓桿127’,且預壓桿127’的長度變形量或施加於預壓桿127’上的正向力(正向力=KX,K為彈性係數,X為長度變形量)與機械手臂110的位移量有關,因此,只要知道預壓桿127’的長度變形量或施加於預壓桿127’上的正向力即可推算出機械手臂110的位移量。 The present embodiment is different from the above embodiment in that the pre-pressing unit 125 includes at least one variable length pre-stressing rod 127', and the length deformation amount of the pre-pressing rod 127' or the positive pressure applied to the pre-pressing rod 127' The force (positive force = KX, K is the modulus of elasticity, and X is the amount of deformation of the length) is related to the amount of displacement of the robot arm 110. Therefore, it is only necessary to know the amount of deformation of the pre-stressed rod 127' or the amount of the pre-stressed rod 127'. The amount of displacement of the robot arm 110 can be derived from the positive force on the upper side.
在本實施例中,感測單元129例如是一力感測器或一位置感測器,感測單元129可藉由偵測預壓桿127’的長度變形量得到的一量測值,而經由感測單元129,控制模組130可根據量測值對應調整機械手臂110提供的機械固持力F1。例如,當偵測到預壓桿127’的長度變形量(參見第2B圖的量測值)呈現一週期性震盪波時,為了避免週期性震盪波影響到加工系統101的加工精度,控制模組130連接機械手臂110以輸出與預壓桿127’的長度變 形量的數值相同但方向相反的一反動訊號σ至機械手臂110,以抵消工件10的反作用力F2或機械手臂110的位移量產生的震動,進而提高加工系統101的加工精度。 In this embodiment, the sensing unit 129 is, for example, a force sensor or a position sensor, and the sensing unit 129 can detect a measured value of the length deformation of the pre-pressing rod 127'. Through the sensing unit 129, the control module 130 can adjust the mechanical holding force F1 provided by the robot arm 110 according to the measured value. For example, when it is detected that the length deformation amount of the pre-pressing rod 127' (see the measurement value of FIG. 2B) exhibits a periodic oscillation wave, in order to prevent the periodic oscillation wave from affecting the processing precision of the processing system 101, the control mode is controlled. The group 130 connects the robot arm 110 to output and the length of the pre-pressing rod 127' is changed. A reaction signal σ having the same value but opposite directions is applied to the robot arm 110 to cancel the vibration generated by the reaction force F2 of the workpiece 10 or the displacement amount of the robot arm 110, thereby improving the machining accuracy of the machining system 101.
上述第一實施例中的感測單元128與第二實施例中的感測單元129可搭配使用或單獨使用,本發明對此不加以限制。 The sensing unit 128 in the first embodiment described above may be used in combination with the sensing unit 129 in the second embodiment or may be used alone. The invention is not limited thereto.
此外,請參照第3A及3B圖,在本實施例中,加工模組120更可包括一座標量測單元140,用以偵測預壓桿127’的長度以得到預壓單元125(或固持平台126)之幾何中心O的一座標值,如此,控制模組130可根據固持平台126之幾何中心O的位移量得知固持平台126的姿態是否改變。如第3A及3B圖所示,預壓單元125包含三個或三個以上長度可變的預壓桿127’,當偵測到長度可變的預壓桿127’相對於工件10的長度等長時,固持平台126之幾何中心O於空間座標系(X,Y,Z)中具有一第一座標值,當偵測到四個預壓桿127相對於工件10的長度不等長時,固持平台126之幾何中心O於空間座標系(X,Y,Z)中具有一第二座標值,控制模組130可透過座標轉換並計算第一座標值與第二座標值之間的位移量得知固持平台126的姿態,並藉由調整機械手臂110以改變固持平台126的姿態。 In addition, please refer to the figures 3A and 3B. In this embodiment, the processing module 120 further includes a scalar measuring unit 140 for detecting the length of the pre-pressing rod 127' to obtain the pre-pressing unit 125 (or holding) A value of the geometric center O of the platform 126), so that the control module 130 can know whether the posture of the holding platform 126 changes according to the displacement amount of the geometric center O of the holding platform 126. As shown in FIGS. 3A and 3B, the preloading unit 125 includes three or more variable length preloading rods 127', and when the variable length preloading rod 127' is detected with respect to the length of the workpiece 10, etc. For a long time, the geometric center O of the holding platform 126 has a first coordinate value in the space coordinate system (X, Y, Z), and when it is detected that the four pre-pressing rods 127 are not equal in length with respect to the workpiece 10, The geometric center O of the holding platform 126 has a second coordinate value in the space coordinate system (X, Y, Z), and the control module 130 can convert the coordinates through the coordinates and calculate the displacement between the first coordinate value and the second coordinate value. The attitude of the holding platform 126 is known and the posture of the holding platform 126 is changed by adjusting the robot arm 110.
第4圖繪示依照本發明另一實施例之機械手臂加工系統102的配置示意圖。在本實施例中,機械手臂加工系統102包 括一機械手臂110、一加工模組120以及一控制模組130。加工模組120包括一進給單元121、一預壓單元125、一感測單元131以及一阻抗模擬單元132。 FIG. 4 is a schematic view showing the configuration of the robot arm processing system 102 according to another embodiment of the present invention. In this embodiment, the robotic arm processing system 102 includes A robot arm 110, a processing module 120 and a control module 130 are included. The processing module 120 includes a feeding unit 121, a pre-pressing unit 125, a sensing unit 131, and an impedance simulating unit 132.
本實施例與上述實施例不同之處在於:感測單元131例如為一電流計或一電壓計,且連接於進給單元121,例如可設置於進給單元121之內部或外部,用以偵測進給單元121對工件10進行加工時輸出的一負載訊號,例如是電流訊號、電壓訊號或電感訊號,其中進給單元121對工件10施加的加工力與負載訊號成正比。 The difference between the embodiment and the above embodiment is that the sensing unit 131 is, for example, an galvanometer or a voltmeter, and is connected to the feeding unit 121, for example, can be disposed inside or outside the feeding unit 121 for detecting A load signal outputted by the feed unit 121 when machining the workpiece 10 is, for example, a current signal, a voltage signal or an inductance signal, wherein the machining force applied by the feed unit 121 to the workpiece 10 is proportional to the load signal.
此外,阻抗模擬單元132設置於進給單元121與預壓單元125(或機械手臂110)之間,阻抗模擬單元132可根據進給單元121輸出的負載訊號評估工件10的反作用力F2以對應產生一虛擬阻抗VI,以使控制模組130能根據虛擬阻抗VI產生抵消工件10的反作用力F2的一反動訊號σ,進而提高加工系統100的加工精度。 In addition, the impedance simulation unit 132 is disposed between the feeding unit 121 and the pre-pressing unit 125 (or the robot arm 110), and the impedance simulation unit 132 can evaluate the reaction force F2 of the workpiece 10 according to the load signal output by the feeding unit 121 to generate correspondingly. A virtual impedance VI is provided to enable the control module 130 to generate a reaction signal σ that cancels the reaction force F2 of the workpiece 10 according to the virtual impedance VI, thereby improving the machining accuracy of the machining system 100.
阻抗模擬單元132例如為一主動式阻抗模擬單元132,可預先評估工件10的反作用力F2,當偵測到工件10的反作用力F2呈現一週期性震盪波時,為了避免週期性震盪波影響到加工系統102的加工精度,控制模組130連接阻抗模擬單元132以輸出與工件10的反作用力F2的數值相同但方向相反的一反動訊號σ至進給單元121,以抵消工件10的反作用力F2產生的震動,進而提高加工系統102的穩定度。 The impedance simulation unit 132 is, for example, an active impedance simulation unit 132, and can pre-evaluate the reaction force F2 of the workpiece 10. When the reaction force F2 of the workpiece 10 is detected to exhibit a periodic oscillation wave, in order to avoid the impact of the periodic oscillation wave For the machining accuracy of the machining system 102, the control module 130 is connected to the impedance simulation unit 132 to output a reaction signal σ that is the same as the value of the reaction force F2 of the workpiece 10 but opposite in direction to the feed unit 121 to counteract the reaction force F2 of the workpiece 10. The resulting vibrations, in turn, increase the stability of the processing system 102.
上述第一實施例中的感測單元128、第二實施例中的感測單元129以及第三實施例中的感測單元131可搭配使用或單獨使用,本發明對此不加以限制。 The sensing unit 128 in the first embodiment, the sensing unit 129 in the second embodiment, and the sensing unit 131 in the third embodiment may be used in combination or separately, and the invention is not limited thereto.
第5A及5B圖分別繪示依照本發明另一實施例之機械手臂加工系統103、103’的配置示意圖。在第5A及5B圖中,機械手臂加工系統103、103’包括一機械手臂110、一加工模組120以及一控制模組130。加工模組120包括一進給單元121、一預壓單元125、一感測單元131、一阻抗模擬單元132以及至少一阻尼單元。在第5A圖中,阻尼單元可為一頂掛式(Skyhook)阻尼單元134。在第5B圖中,阻尼單元可為一阻尼器135。 5A and 5B are respectively schematic views showing the arrangement of the robot arm processing systems 103, 103' according to another embodiment of the present invention. In Figures 5A and 5B, the robotic arm processing system 103, 103' includes a robot arm 110, a processing module 120, and a control module 130. The processing module 120 includes a feeding unit 121, a pre-pressing unit 125, a sensing unit 131, an impedance simulating unit 132, and at least one damping unit. In FIG. 5A, the damper unit may be a Skyhook damper unit 134. In Figure 5B, the damper unit can be a damper 135.
本實施例與上述實施例不同之處在於:頂掛式(Skyhook)阻尼單元134用以懸掛進給單元121於空中,並提供一虛擬阻尼VD至進給單元121之主軸馬達123,以減少主軸馬達123震動,進而提高主軸馬達123加工的穩定度。頂掛式阻尼單元134可為液壓缸、氣壓缸或避震彈簧等。在本實施例中,頂掛式阻尼單元134可單獨使用或配合阻抗模擬單元132一起使用,當兩者一起使用時能減少主軸馬達123本身的震動並能抑制工件10的反作用力F2產生的震動。此外,在第5B圖中,外部機械力(例如機台震動)對機械手臂110及預壓單元125造成的震動也可能對進給單元121產生間接震動,為了避免影響加工系統103的穩定度,阻尼器135設置於進給單元121與預壓單元125(或機械手臂110) 之間,以緩衝外部機械力對主軸馬達123的震動干擾,進而提高加工系統103的穩定度。阻尼器135用以提供一阻尼值D,並可配合阻抗模擬單元132一起使用,阻尼器135例如為液壓缸、氣壓缸或避震彈簧等。 The embodiment is different from the above embodiment in that a Skyhook damping unit 134 is used to suspend the feeding unit 121 in the air and provide a virtual damping VD to the spindle motor 123 of the feeding unit 121 to reduce the spindle. The motor 123 vibrates, thereby improving the stability of the spindle motor 123 processing. The top-mounted damping unit 134 can be a hydraulic cylinder, a pneumatic cylinder or a suspension spring. In the present embodiment, the top-mounted damper unit 134 can be used alone or in combination with the impedance simulating unit 132. When used together, the vibration of the spindle motor 123 itself can be reduced and the vibration generated by the reaction force F2 of the workpiece 10 can be suppressed. . In addition, in FIG. 5B, the vibration caused by the external mechanical force (for example, the machine vibration) on the robot arm 110 and the preloading unit 125 may also cause indirect vibration to the feeding unit 121, in order to avoid affecting the stability of the processing system 103, The damper 135 is disposed at the feeding unit 121 and the pre-pressing unit 125 (or the robot arm 110) Between the two, the external mechanical force is used to buffer the vibration of the spindle motor 123, thereby improving the stability of the processing system 103. The damper 135 is used to provide a damping value D, and can be used together with the impedance simulation unit 132. The damper 135 is, for example, a hydraulic cylinder, a pneumatic cylinder or a suspension spring.
在第5A圖中,控制模組130連接阻抗模擬單元132及頂掛式(Skyhook)阻尼單元134,並根據虛擬阻抗VI及虛擬阻尼VD輸出與工件10的反作用力F2的數值相同但方向相反的一反動訊號σ至進給單元121,以抵消工件10的反作用力F2產生的震動及主軸馬達123本身的震動,進而提高加工系統103的加工精度及穩定度。此外,在第5B圖中,控制模組130連接阻抗模擬單元132及阻尼器135,並根據虛擬阻抗VI及阻尼值D輸出與工件10的反作用力F2的數值相同但方向相反的一反動訊號σ至進給單元121,以抵消工件10的反作用力F2產生的震動及外部震動干擾,進而提高加工系統103’的加工精度及穩定度。 In FIG. 5A, the control module 130 is connected to the impedance simulation unit 132 and the Skyhook damping unit 134, and outputs the same value as the reaction force F2 of the workpiece 10 according to the virtual impedance VI and the virtual damping VD but in the opposite direction. A reaction signal σ is supplied to the feed unit 121 to cancel the vibration generated by the reaction force F2 of the workpiece 10 and the vibration of the spindle motor 123 itself, thereby improving the machining accuracy and stability of the machining system 103. In addition, in FIG. 5B, the control module 130 is connected to the impedance simulation unit 132 and the damper 135, and outputs a reaction signal σ having the same value but opposite direction to the reaction force F2 of the workpiece 10 according to the virtual impedance VI and the damping value D. The feed unit 121 counteracts the vibration generated by the reaction force F2 of the workpiece 10 and the external vibration interference, thereby improving the machining accuracy and stability of the machining system 103'.
第6圖繪示依照本發明另一實施例之機械手臂加工系統104的配置示意圖。在本實施例中,機械手臂加工系統104包括一機械手臂110、一加工模組120以及一控制模組130。加工模組120包括一進給單元121、一感測單元131、一阻抗模擬單元132以及至少一阻尼單元133。 FIG. 6 is a schematic diagram showing the configuration of the robot arm processing system 104 according to another embodiment of the present invention. In the present embodiment, the robotic arm processing system 104 includes a robot arm 110, a processing module 120, and a control module 130. The processing module 120 includes a feeding unit 121, a sensing unit 131, an impedance simulation unit 132, and at least one damping unit 133.
本實施例與上述實施例不同之處在於:工件10以卡固結構或夾持結構136提供一固持力,且機械手臂110可不需經由 上述實施例中的預壓桿127對工件施加預壓力,此外,阻尼單元133包括一頂掛式阻尼單元134以及一阻尼器135並與阻抗模擬單元132一起使用,且控制模組130連接阻抗模擬單元132及阻尼單元133,並根據虛擬阻抗VI、虛擬阻尼VD及阻尼值D輸出與工件10的反作用力F2的數值相同但方向相反的一反動訊號σ至進給單元121,以減少主軸馬達123本身的震動、抑制工件10的反作用力F2產生的震動以及緩衝外部機械力對主軸馬達123的震動干擾,進而提高加工系統104的加工精度及穩定度。 The difference between the embodiment and the above embodiment is that the workpiece 10 provides a holding force by the fastening structure or the clamping structure 136, and the mechanical arm 110 does not need to be The pre-stressing rod 127 in the above embodiment applies a pre-pressure to the workpiece. Further, the damping unit 133 includes a top-mounted damping unit 134 and a damper 135 and is used together with the impedance simulation unit 132, and the control module 130 is connected to the impedance simulation. The unit 132 and the damping unit 133 output a reaction signal σ that is the same as the value of the reaction force F2 of the workpiece 10 but opposite in direction to the feed unit 121 according to the virtual impedance VI, the virtual damping VD, and the damping value D to reduce the spindle motor 123. The vibration itself, the vibration generated by the reaction force F2 of the workpiece 10 is suppressed, and the external mechanical force is buffered to interfere with the vibration of the spindle motor 123, thereby improving the machining accuracy and stability of the machining system 104.
本發明上述實施例所揭露之機械手臂加工系統,可偵測工件的反作用力或機械手臂的位移量,並輸出一反動訊號抵消工件的反作用力或機械手臂的位移量,進而避免機械手臂產生變形或位移,以提高機械手臂加工系統的加工精度。此外,在另一實施例中,本系統可藉由偵測預壓桿的長度變形量即可推算出機械手臂的位移量,並能藉由偵測預壓桿的長度以得知固持平台之幾何中心的姿態。另外,在另一實施例中,本系統還可藉由偵測進給單元對工件進行加工時輸出的一負載訊號評估工件的反作用力,進而產生對應工件的反作用力的一虛擬阻抗,並可輸出一反動訊號以抵消工件的反作用力,以提高加工系統的加工精度。再者,在另一實施例中,阻尼單元可單獨使用或配合阻抗模擬單元一起使用,如此能減少主軸馬達本身的震動並能抑制工件的反作用力產生的震動,進而提高加工系統的加工精度。 The robot arm processing system disclosed in the above embodiments of the present invention can detect the reaction force of the workpiece or the displacement of the robot arm, and output a reaction signal to cancel the reaction force of the workpiece or the displacement of the robot arm, thereby preventing the deformation of the robot arm. Or displacement to improve the machining accuracy of the robotic arm processing system. In addition, in another embodiment, the system can estimate the displacement of the robot arm by detecting the length deformation amount of the pre-pressing rod, and can detect the holding platform by detecting the length of the pre-pressing rod. Geometry center gesture. In addition, in another embodiment, the system can also evaluate the reaction force of the workpiece by detecting a load signal outputted by the feeding unit when processing the workpiece, thereby generating a virtual impedance corresponding to the reaction force of the workpiece, and A reaction signal is output to counteract the reaction force of the workpiece to improve the machining accuracy of the machining system. Furthermore, in another embodiment, the damper unit can be used alone or in combination with the impedance simulation unit, so that the vibration of the spindle motor itself can be reduced and the vibration generated by the reaction force of the workpiece can be suppressed, thereby improving the machining accuracy of the machining system.
綜上所述,雖然本發明已以實施例揭露如上,然其 並非用以限定本發明。本發明所屬技術領域中具有通常知識者,在不脫離本發明之精神和範圍內,當可作各種之更動與潤飾。因此,本發明之保護範圍當視後附之申請專利範圍所界定者為準。 In summary, although the invention has been disclosed above by way of example, It is not intended to limit the invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.
Claims (17)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW106139788 | 2017-11-16 | ||
??106139788 | 2017-11-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
TWI651176B true TWI651176B (en) | 2019-02-21 |
TW201922437A TW201922437A (en) | 2019-06-16 |
Family
ID=66213731
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW106145429A TWI651176B (en) | 2017-11-16 | 2017-12-22 | Robot arm processing system and method thereof |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN109794932B (en) |
TW (1) | TWI651176B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11577389B2 (en) | 2020-03-27 | 2023-02-14 | Industrial Technology Research Institute | Method for reducing vibration of robot arm |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI704434B (en) | 2019-12-03 | 2020-09-11 | 財團法人工業技術研究院 | Drilling system and method thereof |
CN112171674B (en) * | 2020-09-25 | 2022-11-11 | 苏州微创畅行机器人有限公司 | Control method of flexible mechanical arm and robot system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101195221A (en) * | 2006-12-07 | 2008-06-11 | 发那科株式会社 | Robot control apparatus for force control |
CN105312632A (en) * | 2014-08-05 | 2016-02-10 | 发那科株式会社 | Control device for robot that performs work by pressing tool against workpiece |
CN106003101A (en) * | 2015-03-26 | 2016-10-12 | 精工爱普生株式会社 | Robot control apparatus and robot system |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05111889A (en) * | 1991-10-23 | 1993-05-07 | Fanuc Ltd | Control of variable control type robot |
CN101462188B (en) * | 2007-12-18 | 2011-04-13 | 财团法人工业技术研究院 | Spark coil cutting processor with deformation compensating mechanism |
WO2014037999A1 (en) * | 2012-09-04 | 2014-03-13 | 株式会社安川電機 | Method for adjusting robot control parameters, robot system, and robot control device |
CN204108507U (en) * | 2014-09-30 | 2015-01-21 | 芜湖炬胜机电设备厂 | A kind of automatic soldering device |
CN105500147A (en) * | 2015-12-14 | 2016-04-20 | 中国科学院沈阳自动化研究所 | Polishing method of portal lifting robot based on force control |
CN106426173B (en) * | 2016-11-04 | 2019-08-20 | 华南理工大学 | For the robot grinding system and its method for planning track for solving deformation problems |
CN107186460A (en) * | 2017-07-10 | 2017-09-22 | 上海新时达电气股份有限公司 | Industrial robot carries out the method and its system of peg-in-hole assembly |
-
2017
- 2017-12-22 TW TW106145429A patent/TWI651176B/en active
- 2017-12-22 CN CN201711415511.XA patent/CN109794932B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101195221A (en) * | 2006-12-07 | 2008-06-11 | 发那科株式会社 | Robot control apparatus for force control |
CN105312632A (en) * | 2014-08-05 | 2016-02-10 | 发那科株式会社 | Control device for robot that performs work by pressing tool against workpiece |
CN106003101A (en) * | 2015-03-26 | 2016-10-12 | 精工爱普生株式会社 | Robot control apparatus and robot system |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11577389B2 (en) | 2020-03-27 | 2023-02-14 | Industrial Technology Research Institute | Method for reducing vibration of robot arm |
Also Published As
Publication number | Publication date |
---|---|
TW201922437A (en) | 2019-06-16 |
CN109794932B (en) | 2021-03-16 |
CN109794932A (en) | 2019-05-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10967510B2 (en) | Robot arm processing system and method thereof | |
US9636827B2 (en) | Robot system for performing force control | |
TWI651176B (en) | Robot arm processing system and method thereof | |
Wang et al. | A state-of-the-art review on robotic milling of complex parts with high efficiency and precision | |
JP5399624B2 (en) | Numerical control method and numerical control device | |
US8152422B2 (en) | Control method for a machine tool with numerical control | |
CN110497423B (en) | Self-adaptive machining method for manipulator | |
KR102312368B1 (en) | System, method for controlling redundant robot, and a recording medium having computer readable program for executing the method | |
WO2012053352A1 (en) | Load inertia estimation method and control parameter adjustment method | |
Denkena et al. | Enabling an industrial robot for metal cutting operations | |
Sato et al. | Analysis of the coupled vibration between feed drive systems and machine tool structure | |
JP6542629B2 (en) | Positioning device and method for machining tool | |
WO2018139236A9 (en) | Machining control system and motion guide device | |
EP2404712A1 (en) | A dual arm robot and a method for controlling a dual arm robot | |
US20220362898A1 (en) | Apparatus for active contact force control in machining and handling operations | |
Lee et al. | Implicit force and position control to improve drilling quality in CFRP flexible robotic machining | |
JP2019104097A (en) | Robot system | |
JP6581162B2 (en) | Processing system and processing machine control method | |
CN105773423A (en) | Method for compensating for temperature-induced deviations in a grinding machine and grinding machine provided with such a method | |
US11898616B2 (en) | Vibration damping system and machine tool | |
US11389964B2 (en) | Actively damped robot | |
KR102112994B1 (en) | Vibration reduction processing method and device using synchronous control of robot | |
Karim et al. | Experimental determination of compliance values for a machining robot | |
KR101963511B1 (en) | 5-axis compliance device with force/torque sensing capability | |
US20230202036A1 (en) | Robot |