TWI672202B - Robotic arm guiding and positioning device - Google Patents

Abstract

A mechanical arm guiding and positioning device comprises a positioning fixture and a triggering component. The positioning fixture is fixed on a workpiece to be grasped, and has a guiding positioning slot, and a positioning detecting component is disposed in the guiding positioning slot. The trigger assembly is detachably mounted to one of the working ends of a robot arm. Wherein, when the working end drives the trigger component to move to the positioning fixture and is detected by the positioning detecting component, the positioning detecting component sends a trigger signal to a control host, and the control host stops according to the trigger signal. Drive the robot arm and record the coordinate points at the end of the job.

Description

Robotic arm positioning and positioning device

The invention relates to a mechanical arm guiding and positioning device, in particular to a mechanical arm guiding and positioning device for assisting a mechanical arm to perform an positioning point recording operation on a clipped object.

In recent years, technology has developed rapidly, and more and more technology companies have invested in the development of automation devices to help factories improve the productivity and quality of manufactured products. However, in practice, before the automation device is put into production line for production and manufacturing, it is often necessary to carry out the process of teaching, that is, to let the robot arm record the position coordinates of the work such as clamping or processing, so that the automation device can operate Corresponding actions are performed according to the recorded position coordinates.

Generally speaking, the existing robot arms can be roughly divided into a cooperative arm and an industrial arm. The output power and scale of the cooperative arm are small, mainly for the staff to manually move manually to record the position coordinates of the positioning point, but the industrial type The output power of the arm is large and cannot be moved manually. Usually, the robot arm can only be moved by remotely moving the direction and the position coordinates of the positioning point can be recorded.

According to the above, in practice, when the staff is working When the industrial arm performs the teaching operation, the method of moving the direction by the remote control does not accurately move the arm to the target position. Therefore, when the mechanical arm is actually operated, it is easy to cause the center of gravity during the clamping operation to be unstable due to excessive error. In addition, the safety of the overall operation is affected, and although the operator uses the movement method of coordinate input to perform the teaching of the robot arm, the movement of the coordinate input often requires multiple coordinate inputs to correct the position of the robot arm. And then approaching the target position, so not only the operation is complicated, but also takes a lot of time.

In view of the prior art, when the user teaches the industrial robot arm, it is easy to move the robot arm to the target position due to the remote operation mode, even if the input coordinate is used, A plurality of corrections can be accurately moved to the target position; therefore, the object of the present invention is to provide a robot arm guiding and positioning device, thereby solving the problem that the robot arm teaching work is inconvenient.

In order to achieve the above object, the present invention provides a robot arm guiding and positioning device for assisting an automatic device in performing positioning point recording operations on an object to be gripped. The automation device includes a robot arm and a control host, and the robot arm system The movable arm is movably disposed in a gripping work space for gripping the object to be gripped, and the control host is communicatively coupled to the robot arm, and the robot arm guiding and positioning device comprises a positioning jig and a triggering component.

The positioning fixture comprises a fixture body and a positioning detection group And a number of fixed components. The fixture has a first surface and a second surface facing away from each other, the first surface faces the object to be grasped, the second surface faces the robot arm, and the fixture body defines a guiding positioning groove for guiding The locating slot includes a tapered section and a linear section, the tapered section tapers from the second face toward the first face, and the linear segment extends from the tapered section toward the first face. The location detection component is disposed in a linear segment and is communicatively coupled to the control host. A plurality of fixing components are coupled to the fixture body for clamping the objects to be gripped, so that the fixture body is relatively fixed to the object to be gripped. The trigger assembly is detachably mounted to one of the working ends of the robot arm.

Wherein, when the working end drives the trigger component to move toward the fixture body in a first direction to contact the tapered section, the trigger component is slid into the linear section by the guidance of the tapered section, and when the positioning is detected When the component detects that the trigger component moves to the positioning in the linear segment, the positioning detection component sends a trigger signal to the control host, and the control host stops driving the robot arm according to the trigger signal, and records the coordinate positioning point of the working end.

In an auxiliary technical means derived from the above-mentioned necessary technical means, the positioning fixture further comprises a communication module electrically connected to the positioning detection component and communicatively coupled to the control host.

In an auxiliary technical means derived from the above-mentioned necessary technical means, the fixture body has a first height, and the guiding positioning groove has a guiding depth, and the guiding depth is smaller than the first height.

In an auxiliary technical means derived from the above-mentioned necessary technical means, the guiding positioning groove has a guiding depth, the triggering component has a contact portion, the contact portion extends in the first direction, and the contact portion has an extended length and an extended length Greater than the guiding depth.

In an auxiliary technical means derived from the above-mentioned necessary technical means, each fixing component comprises a telescopic portion and a clamping portion, and the telescopic portion is movably disposed through the jig in a second direction perpendicular to the first direction. The body and the clamping portion are coupled to the expansion and contraction portion, and the clamping portion extends in the first direction.

In an auxiliary technical means derived from the above-mentioned necessary technical means, the positioning detecting component is a flexible switch button.

The mechanical arm guiding and positioning device of the invention is fixed on the object to be grasped by using the positioning fixture, and the triggering component is fixed to the working end of the mechanical arm, so that the user can drive the triggering component through the working end roughly The guiding positioning groove is moved, and then the guiding portion is aligned with the linear segment by the guiding of the tapered portion, and then the positioning detecting component is pressed through the contact portion to stop the action of the robot arm and record the position coordinate of the working end. Therefore, the user can quickly and accurately establish the relative positional relationship between the automation device and the object to be gripped without the need of precise operation of the robot arm, thereby effectively improving the positioning operation of the automation device relative to the object to be grasped. Convenience.

100‧‧‧Mechanical arm guiding and positioning device

1‧‧‧ positioning fixture

11‧‧‧ fixture body

111‧‧‧ first side

112‧‧‧ second side

113‧‧‧Guided positioning slot

1131‧‧‧Constriction

1132‧‧‧linear segment

12‧‧‧ Position Detection Component

13‧‧‧Communication module

14a, 14b, 14c, 14d‧‧‧ fixed components

141a‧‧‧Flexing Department

142a‧‧‧Clamping

2‧‧‧Trigger components

21‧‧‧Team

22‧‧‧Contacts

200‧‧‧Automation

201‧‧‧ Robotic arm

2011‧‧‧Base

2012‧‧‧First Rotation Department

2013‧‧‧Second Rotation Department

2014‧‧‧First arm

2015‧‧‧ second arm

2016‧‧‧Working end

202‧‧‧Image capture module

203‧‧‧Control host

2031‧‧‧Transmission module

2032‧‧‧Processing module

300‧‧‧Objects to be picked up

400‧‧‧ jaw device

401‧‧‧Link Department

402‧‧‧Device Ontology

403‧‧‧claw

WS‧‧‧Catch work space

L1‧‧‧ first direction

L2‧‧‧ second direction

L3‧‧‧ third direction

D1‧‧‧ first height

D2‧‧‧deep depth

D3‧‧‧ Extended spacing

D4‧‧‧second height

D5‧‧‧Extended length

D6‧‧‧Device height

P1‧‧‧first axis

P2‧‧‧second axis

S1‧‧‧ trigger signal

S2‧‧‧ stop signal

S3‧‧‧ video signal

The first figure shows a schematic view of the mechanical arm guiding and positioning device of the present invention disposed on the object to be grasped for the automatic device to perform the positioning point recording operation for the object to be grasped; the second figure shows the mechanical arm guide of the present invention. A schematic diagram of a system for guiding a positioning device; 3 is a schematic cross-sectional view showing the mechanical arm guiding and positioning device of the present invention; and the fourth drawing is a schematic cross-sectional view showing the triggering assembly of the present invention being driven by the mechanical arm to abut the tapered portion; The schematic diagram of the trigger assembly being guided by the tapered section and sliding into the linear section; the sixth diagram is a schematic plan view showing the mounting of the clamping device of the present invention on the working end of the robot arm; and the seventh diagram A schematic diagram showing the gripping device gripping the object to be gripped.

Specific embodiments of the present invention will be described in more detail below with reference to the drawings. Advantages and features of the present invention will be apparent from the description and appended claims. It should be noted that the drawings are all in a very simplified form and both use non-precise proportions, and are only for convenience and clarity to assist the purpose of the embodiments of the present invention.

Please refer to the first figure and the second figure. The first figure shows a three-dimensional schematic diagram of the robot arm guiding and positioning device of the present invention disposed on the object to be grasped for the automatic device to perform the positioning point recording operation on the object to be grasped; The second figure shows a system diagram of the mechanical arm guiding and positioning device of the present invention.

As shown in the first and second figures, a robotic arm guiding and positioning device 100 is used to assist an automated device 200 in performing a positioning point recording operation on an object to be grasped 300. The automation device 200 includes a robot arm 201, an image capturing module 202, and a control host. 203. The robot arm 201 is movably disposed on a gripping work space WS for gripping one of the objects to be gripped. The image capturing module 202 is disposed in the gripping work space WS, and the image capturing module 202 is, for example, a photographic lens. The control host 203 is communicatively coupled to the robot arm 201 and the image capturing module 202, and the control host 203 is, for example, a computer device.

As described above, the robot arm 201 further includes a base 2011, a first rotating portion 2012, a second rotating portion 2013, a first arm portion 2014, a second arm portion 2015, and a working end portion 2016. A rotating portion 2012 is rotatably provided to the base 2011, and the second rotating portion 2013 is fixed to the first rotating portion 2012. The first arm portion 2014 is rotatably coupled to the second rotating portion 2013, and the second arm portion 2015 is rotatably coupled to the first arm portion 2014, and the working end portion 2016 is rotatably coupled to the second arm portion 2015; wherein, by the first rotating portion 2012, the second rotating portion 2013, and the first arm portion 2014 The rotation control of the second arm portion 2015 and the working end portion 2016 can move the working end portion 2016 in a first direction L1, and since the composition of the robot arm 201 is prior art, no further rumors are added here.

The robot arm guiding and positioning device 100 includes a positioning fixture 1 and a trigger assembly 2 . The positioning fixture 1 comprises a fixture body 11, a positioning detection component 12, a communication module 13, and four fixing components 14a, 14b, 14c and 14d.

Please refer to the third figure, which is a schematic cross-sectional view showing the robot arm guiding and positioning device of the present invention. As shown in the first and third figures, the jig body 11 has a first face 111 and a second face 112 facing away from each other, the first face 111 facing the object to be grasped 300, and the second The surface 112 faces the robot arm 201 and the image capturing module 202, and the fixture body 11 has a first height d1 between the first surface 111 and the second surface 112.

In addition, the fixture body 11 further defines a guiding positioning slot 113. The guiding positioning slot 113 includes a tapered section 1131 and a linear section 1132. The tapered section 1131 is tapered from the second surface 112 toward the first surface 111. Formed, the linear segment 1132 extends from the tapered section 1131 toward the first face 111, and the guiding locating groove 113 has a guiding depth d2 that covers the tapered section 1131 and the linear section 1132. In the present embodiment, the tapered section 1131 is a tapered groove which is tapered from the large aperture opening of the second surface 112 toward the first surface 111 to the small aperture opening, and the linear section 1132 is a small aperture formed by the tapered slot. A cylindrical recess formed by extending the first surface 111 to the same diameter.

The position detecting component 12 is disposed in the linear segment 1132, which is the bottom of the linear segment 1132 in this embodiment, and is a flexible switch button. When triggered, a trigger signal S1 is issued; however, in other embodiments, The position detecting component 12 can also be a non-contact sensor, for example, using an infrared sensor for inductive detection.

The communication module 13 is electrically connected to the positioning detection component 12 and communicatively coupled to the transmission module 2031 of the control host 203, so that the positioning detection component 12 is communicatively coupled to the control host 203 through the communication module 13, and is thus positioned. When the detecting component 12 is pressed, the trigger signal S1 is transmitted to the control host 203 via the communication module 13. In practice, the communication module 13 is, for example, a wireless communication module such as a Wi-Fi module or a Bluetooth module.

The four fixing components 14a, 14b, 14c and 14d are respectively connected to the jig body 11 for being clamped to the object 300 to be gripped, so that The fixture body 11 is oppositely fixed to the object to be grasped 300; wherein the fixing components 14a and 14c are reciprocally movable in a second direction L2 to respectively pass on both sides of the jig body 11, and the fixing components 14b and 14d Then, the two sides of the jig body 11 are respectively reciprocally moved in a third direction L3; further, the second direction L2 and the third direction L3 are perpendicular to each other, and the second direction L2 and the third direction L3 are perpendicular to each other. In the first direction L1.

In the embodiment, the fixing component 14a further includes a telescopic portion 141a and a clamping portion 142a. The telescopic portion 141a is reciprocally movable in the second direction L2 to the jig body 11. The clamping portion 142a is formed by extending from the elastic portion 141a in the first direction L1, and the distance between the inner side surface of the clamping portion 142a and the side surface of the jig body 11 is an extending distance d3. In practical application, the fixture body 11 can be further provided with a displacement sensor, and the displacement sensor comprises a contact displacement sensor composed of a rack and a gear and a non-contact measurement using a laser or a capacitor for distance measurement. Displacement sensor to obtain the extension spacing d3. Wherein, since the configurations of the fixing components 14b, 14c and 14d are the same as those of the fixing component 14a, no further explanation is given here. In addition, in the present embodiment, the two-two sets of fixing components 14a and 14c can also cooperate with the gear and the rack to achieve synchronous outward stretching or inward retracting, so that the fixing components 14a and 14c are opposite. The extending pitch d3 of the jig body 11 is uniform, and the fixing components 14b and 14d are also designed to synchronously move in the opposite direction.

The trigger assembly 2 includes a set of joints 21 and a contact portion 22. The assembly portion 21 is detachably mounted to the working end portion 2016 of the robot arm 201. The contact portion 22 is coupled to the assembly portion 21 and extends from the assembly portion 21 in the first direction L1. Wherein the assembly portion 21 has a second height d4, and The contact portion 22 has an extended length d5 along the first direction L1. In the present embodiment, the assembly portion 21 has a disk structure and is screwed to the working end portion 2016 by screws; the contact portion 22 has a strip-like structure and is fixed to the assembly portion 21 by screwing.

Please refer to the first to fifth figures together. The fourth figure shows a schematic cross-sectional view of the trigger assembly of the present invention being driven by the mechanical arm to abut the tapered section; the fifth figure shows that the trigger assembly of the present invention is subjected to the tapered section. Guided to slide into the cross-section of the linear segment. As shown in the third figure, the contact portion 22 has a first axis P1 parallel to the first direction L1, and the linear segment 1132 has a second axis P2 parallel to the first direction L1, and the positioning detecting component 12 is located at On the two axes P2.

As shown in the fourth and fifth figures, when the user drives the trigger assembly 2 to move to the guiding positioning slot 113 through the working end portion 2016 and drives the triggering assembly 2 to move in the first direction L1, even if the contact portion 22 is An axis P1 is initially misaligned with the second axis P2 of the linear segment 1132, but when the contact portion 22 abuts the tapered portion 1131, the contact portion 22 is guided by the tapered portion 1131 and slides into the home. In the linear segment 1132, when the contact portion 22 continues to penetrate the linear segment 1132 and presses the positioning detecting component 12, the positioning detecting component 12 transmits the triggering signal S1 to the transmission module 2031 of the control host 203 through the communication module 13, At this time, the processing module 2032 sends a stop signal S2 to the robot arm 201 through the transmission module 2031 according to the trigger signal S1, thereby controlling the robot arm 201 to stop operating, and avoiding the working end portion 2016 to drive the trigger component 2 to continue in the first direction L1. mobile. In this embodiment, since the positioning detecting component 12 is a flexible switch button, the elastic switch button is pressed to the triggered position, that is, the positioning point, In fact, it is also possible to estimate in advance the height at which the elastic switch button is triggered by the press.

In practical practice, when the first direction L1 is the vertical direction, and the processing module 2032 controls the working end portion 2016 of the robot arm 201 to move along the first direction L1 toward the guiding positioning slot 113, the processing module 2032 can further control the mechanism. The arm 201 controls the working end portion 2016 to relax in the horizontal direction of the vertical first direction L1, that is, the right angle coordinate system of the robot arm 201, if the first direction L1 is the z-axis direction of the vertical direction, the control module 2032 The torsion force in the x-axis direction and the y-axis direction is relaxed, so that the working end portion 2016 and the contact portion 22 can be freely displaced in the horizontal direction when they come into contact with the tapered portion 1131.

In addition, when the position detecting component 12 is a non-contact sensor, the positioning detecting component 12 can set a designated position as a positioning point in the linear segment 1132 in advance, and detects that the contact portion 22 reaches the designated position. The stop signal S2 is issued.

On the other hand, while the processing module 2032 receives the trigger signal S1 through the transmission module 2031, the processing module 2032 also records the position coordinates of the robot arm 201 driving the working end portion 2016, and in practical use, the processing module The group 2032 can receive the image signal S3 transmitted by the image capturing module 202 through the transmission module 2031, and combine the position coordinates of the robot arm 201 driving the working end portion 2016 with the image frame corresponding to the image signal S3, but For example, the user can only use the image signal S3 transmitted by the image capturing module 202 to roughly control the working end portion 2016 to drive the triggering component 2 to move toward the guiding positioning slot 113.

Please refer to the first to seventh figures together. A plan view showing the triggering assembly of the present invention is installed on the working end of the robot arm, and the seventh drawing shows a schematic view of the gripping device for gripping the object to be gripped.

As shown in the first to seventh embodiments, the robot arm guiding and positioning device 100 of the present invention is fixed to the object to be grasped 300 by using the positioning fixture 1 and fixes the trigger assembly 2 to the robot arm 201. The working end portion 2016, whereby when the user wants to operate the working end portion 2016 of the robot arm 201 through the image capturing module 202 and the control host 203 to record the position corresponding to the object to be grasped 300, the working end can be controlled first. The portion 2016 moves above the guiding positioning groove 113, and then controls the working end portion 2016 to move toward the guiding positioning groove 113, even if the first axis P1 of the contact portion 22 is not aligned with the second axis P2 of the linear segment 1132, when When the working end portion 2016 moves in the first direction L1, the contact portion 22 is also guided by the tapered portion 1131 to slide into the linear segment 1132, thereby moving the contact portion 22 in the linear segment 1132 in the first direction L1. When the position detecting component 12 is pressed, the positioning detecting component 12 can send the trigger signal S1 to the control host 203 through the communication module 13, so that the control host 203 stops the action of the robot arm 201, and records the movement of the robot arm 201. End position 2016 seat In addition, the processing module 2032 can also integrate the position coordinates of the working end portion 2016 with the image of the working end portion 2016 and the object to be grasped 300 provided by the image signal S3.

It should be particularly noted that since the jig body 11 has a first height d1 and a guiding depth d2, and the connecting portion 21 and the contact portion 22 respectively have a second height d4 and an extended length d5, when the contact portion 22 penetrates the linear segment When the 1132 is pressed and the positioning detection component 12 is pressed, the user can calculate The distance between the working end portion 2016 and the object to be gripped 300, that is, the difference between the first height d1 and the guiding depth d2 plus the second height d4 and the extending length d5 corresponds to the working end portion 2016 and the object to be gripped At a distance of 300, at this time, in conjunction with the coordinate parameters of the robot arm 201 built in the automation device 200, the automation device 200 can completely grasp the relative positional relationship with the object 300 to be grasped.

In addition, in this embodiment, the fixture body 11 is a cylinder, so the user can calculate the opening range required to grip the object 300 to be gripped by the diameter and the extension distance d3 of the cylinder. Further, after the robot arm guiding and positioning device 100 is used to assist the automation device 200 to perform the positioning point recording operation on the object 300 to be gripped, the robot arm guiding and positioning device 100 can be disassembled, and then the jaw device 400 is assembled in the operation. The end portion 2016 is used to enable the automation device 200 to perform the work of gripping the object 300 by the jaw device 400; wherein the jaw device 400 is, for example, a joint portion 401, a device body 402, and two jaws 403 ( Only one of the drawings is shown, and the jaw device 400 has a device height d6 which extends from the joint portion 401 at the working end portion 2016 to the bottom of the device body 402, but in this embodiment The device height d6 is smaller than the distance between the working end portion 2016 and the object to be gripped 300, so as to prevent the working end portion 2016 from driving the jaw device 400 to hit the object 300 to be gripped.

In summary, since the mechanical arm guiding and positioning device of the present invention is fixed on the object to be grasped by using the positioning fixture, and the triggering component is fixed to the working end of the robot arm, in practice, the user can Image captured by the image capture module or visually observed by the naked eye The method of controlling the working end to drive the triggering component to move roughly toward the guiding positioning groove, and then guiding the contact portion to the linear segment through the guiding of the tapered portion, and then pressing the contact detecting component to stop by the contact portion The movement of the robot arm and the position coordinates of the working end are recorded, so that the user can quickly and accurately establish the relative positional relationship between the automation device and the object to be gripped without the need of precise operation of the robot arm, thereby effectively improving automation. The convenience of the positioning operation of the device relative to the object to be gripped.

In addition, it should be particularly noted that the mechanical arm referred to in the present invention generally refers to all devices that use a mechanical structure for grasping, moving, or placing, such as the articulated mechanical arm illustrated in the embodiment of the present invention, but not Limited to this, it can also be a slide type robot arm.

The above is only a preferred embodiment of the invention and is not intended to limit the invention. Any changes in the technical means and technical contents disclosed in the present invention may be made by those skilled in the art without departing from the technical means of the present invention. The content is still within the scope of protection of the present invention.

Claims (5)

The utility model relates to a mechanical arm guiding and positioning device, which is used for assisting an automatic device to perform a positioning point recording operation on a workpiece to be gripped. The automatic device comprises a mechanical arm and a control host, and the mechanical arm is movably disposed on the utility device. The gripping device is configured to be communicatively coupled to the robot arm, and the robot arm guiding and positioning device comprises: a positioning fixture comprising: a fixture body having a back And a first surface facing the object to be grasped, the second surface facing the robot arm, and the fixture body defines a guiding positioning groove, the guiding position The slot includes a tapered section and a linear section, the tapered section is tapered from the second face toward the first face, the linear segment extending from the tapered section toward the first face; a positioning detection component Provided in the linear segment and communicatively coupled to the control host; and a plurality of fixed components coupled to the fixture body, and each of the fixing components includes a telescopic portion and a clamping portion, the telescopic portion Department along the first The clamping portion is movably disposed on the fixture body, the clamping portion is coupled to the telescopic portion, and the clamping portion extends in a first direction perpendicular to the second direction for clamping Capturing the object, so that the fixture body is relatively fixed to the object to be grasped; and a triggering component is detachably mounted on one of the working ends of the robot arm; When the working end drives the triggering component to move toward the fixture body in the first direction to contact the tapered section, the triggering component is slid into the linear section by guiding the tapered section. And when the positioning detection component detects that the trigger component moves to the positioning point in the linear segment, the positioning detection component sends a trigger signal to the control host, and the control host stops according to the trigger signal. Drive the robot arm and record the coordinates of the positioning point at the end of the job. The mechanical arm guiding and positioning device of the first aspect of the invention, wherein the positioning fixture further comprises a communication module electrically connected to the positioning detecting component and communicatively coupled to the control host. The robot arm guiding and positioning device of claim 1, wherein the fixture body has a first height, the guiding positioning groove has a guiding depth, and the guiding depth is smaller than the first height . The robot arm guiding and positioning device of claim 1, wherein the guiding positioning groove has a guiding depth, the triggering component has a contact portion, the contact portion extends along the first direction, and The contact portion has an extended length that is greater than the guiding depth. The robot arm guiding and positioning device according to claim 1, wherein the positioning detecting component is a flexible switch button.