M360119 八、新型說明： 【新型所屬之技術領域】 本創作係關於一種整合精密加工機械與機械手臂的控 制裝置，特別是指一種精密加工機械以及機械手臂（夹取裝 置）共用一個控制單元的裝置。 【先前技術】 如圖三所示’切削加工中心的數值控制加工的精密加工 機械為通過電腦編輯程式後進行自動控制的機床，其操作者 將程式指令輸人數㈣統之記憶單元並經㈣腦編輯計 算，使程式指令最後傳送至驅動裝置如飼服馬達來切削加工 所設計之被加工件。 機械手臂是接受操作者輸入指令而自動執行工作的機器 其心7也可以執行預先編排的程式，機械手臂執行的 是取代或是協助工廠操作員操作精密加工機械的工作，例如 電子製造業、模具製造業、半導體料，或是危險的工作。 因此機械手臂在精密加卫機械之運用已日漸普遍，但現 =密加工機械控制單元與機械手臂控制單元，因屬兩獨立 硬體’如此將導致忐，田主 無線值於古斗 印貝’且在兩控制器間需透過有線或 系、统了“能運作，若料奸擾喊時，會導致整個 與效率減低。 Μ通之資财限，將使整合度 本案創作人75針對精密加工 機械控制器與機械手臂控 1」M360119 制器整合的問題，積極尋求解決之道 【新型内容】 8Τ2：ΤΓ… 月 R ：；：'—M360119 VIII. New description: [New technical field] This creation is about a control device that integrates precision machining machinery and mechanical arm, especially a precision machining machine and a mechanical arm (clamping device) sharing a control unit. . [Prior Art] As shown in Figure 3, the precision machining machine for numerical control machining of the machining center is a machine tool that automatically controls the program after computer editing. The operator will input the program command number (4) and the memory unit and (4) brain. The calculation is performed so that the program command is finally transmitted to a driving device such as a feeding motor to cut the workpiece to be machined. The robotic arm is a machine that accepts the operator's input instructions and automatically performs the work. The heart 7 can also execute a pre-programmed program. The robotic arm performs the work of replacing or assisting the factory operator in operating the precision machining machine, such as electronics manufacturing, molds. Manufacturing, semiconductor materials, or dangerous work. Therefore, the use of mechanical arms in precision-added machines has become more and more popular, but now = close-machined mechanical control unit and mechanical arm control unit, because of the two independent hardware 'so will lead to 忐, the landlord wireless value in Gudouyinbei' And between the two controllers, it is necessary to be able to operate through cable or system. If the information is screaming, it will lead to the whole and the efficiency is reduced. The financial limit of the company will make the integration of the case creator 75 for precision machining. The problem of integrating the mechanical controller with the robotic arm control 1" M360119 controller, actively seeking solutions. [New content] 8Τ2:ΤΓ... Month R :;:'-
本創作之目的即在於提供—㈣㈣_單元，能將兩 種獨立且複雜之控制單元整合成單__控制單元，並精確的依 據使用者編輯指令執行任何精密加工機械與機械手臂的動 作。可包括同動、非同動、亦紐&〜 動乂錯動作、同步等待等各項複雜 之運動。 4作之人目的係在於提升精密加卫機械與—個以上 機械手臂的整合性，達成-控制器多工的目的，降低加工設 備的成本。 本創作之另—目的為使用單—控制單元來設定所有機密 加工機械與機械手臂的參數，增加使用者方便性。 可達成上述新型目的之—種整合精密加卫機械與機械手 臂的控制裝置，包括有： 卫單元，、06又置有具運算能力並可對精密加工機械 的加工平台與機械手臂同時進行控制之硬體及軟體，其接收 操作者編輯指令並能對驅動裝置下達控制指令。 【實施方式】 β月參閱圖—與圖二’本創作所提供之—種整合精密加工 機械與機械手臂的控制裝置’能控制之圖i與圖2之系統， 此系統主要包括有：一精密加工機械3、至少-機械手臂4 以及-控制單元―㈣所構成。其中該精密加工 M360119 ^27Ί'Χ；Γ；：η 機械3與機械手臂4為各自獨立的機構。LlUHj 該精密加工機械3，可接收控制單元2的驅動信號與提 供回饋作動㈣至控制單元2;其中，該精密加工機械3為 各種型態的數值控制機床和設備，其能自動完成產品的加 裝配檢測等製造過程；且其中該控制裝置可再包括I/O 接點：4司服馬達控制接點、AD/DA接點、對外通訊功能 該機械手’ 4為可接受電腦控制的多功能取放機械裴 置為接收控制單疋2的驅動信號與提供機械裝置狀態之回 饋作動信號至控制單元2，並依驅動信號進行被加工件5夾 取、翻轉、進料、退料或加工； 操作者編輯指令卜其提供操作者指令的編輯，以及作 為將操作者編輯設定後的程式藉以連結輪入至後述的控制 單元2中； 如圖二所示，該控制單元2其内設置有具運算能力並可 對精密加工機械3與機械手臂4同時進行控制之控制硬體 21，其接收操作者編輯指令1並能對控制硬體21下達控制 指令之驅動信號；該控制單元2包括複數之程式解譯裝置， 可對精密加工機械控制與機械手臂之使用者指令同時解 譯。此控制單元2包含控制精密加工機械3與機械手臂彳各 軸的驅動裝置、控制硬體以及控制軟體，編輯後的指令經由 控制軟體傳送至各控制硬體，再傳送到驅㈣置，對受控機 械做各種命令，由機密加工機械3與機械手f “饋狀態訊 ps. 2» i r i年月E! M360119 號給控制單元2。其巾該控制硬體可包括人 主機、驅動器、電腦微處理料控制硬體單元。其中該控制 軟體可包括精密加卫機械控制器運動控制軟體、機械手臂控 制器運動控制軟體與—種可多玉處理參數、並整合運算控制 器各組件間運算排程之程式軟體。 精密加工機械控制單元22的軟體與機械手臂控制單元 23的軟體間之運作’可經由多工控制技術達成，能使精密加 工機械2及機械手臂3之控制於同—套硬體平台上運作，該 工具機3與機械手臂4的運動控制，係由—共同的控制單元 2來加以完成’ *操作者編輯指令i為提供操作者指令的編 輯以及將操作者編輯設定後的程式藉以有線或無線的方式 傳送輸入至控制單元2中，此控制單元2進而包含控制精密 加工機械3與機械手臂4的驅動裝置31,41，其中： 控制單元中’提供操作者同時精密加工機械之編輯指令 與機械手臂之編輯指令！於同一人機介面上，進而將資訊傳 入控制軟體，於即時作I糸 … P時作業系統核心層將資訊經控制硬體計算 後送出控制及驅動命令至驅動裝置，進而控制㈣加工機械 3與機械手臂4;精密加工機械3與機械手臂4之狀態資訊 週期性回饋進入單一控制單元。 1控制早I 2能具有多卫控制技術，該多卫控制技術能 _龍具有多工處理能力’以達到同時多個控制渠道的 目的。該渠道包括控制一精密加工機械與—個以上機械手 M360119 臂 A i ( - .< 铜 w控制單元中包括一記憶單元’可記錄精密加工機械控制 早㈣與機械手臂控制單元Μ之共用資訊，精密加工機械 -·Ι單7L 22及機械手臂控制單元23皆可對此記憶單元之資 訊作存取，獲得對方所有資訊。 如圖二所示，當該精密加工機械3與該機械手f 4接收 控制早元2的驅動信號則同步進行被加工件5夾取、翻轉、 進料、退料或加^同時，該精密加4械3與該機械手臂 4亦回饋作動信號至控制單元2,讓控制單元知道目前控制 之所有資訊以利控制單元做任何必要指令之修正與更新。 j作所提供之-種整合精密加卫機械與機械手臂的^ 制裝置，與前述引證案及其他習用技術相互比較時，更具有 下列之優點： 本創作的精密加工機械以及機械手臂共用一個控制單 元，以共同操作前置參數設共同Μ加工排程規劃、共 同啟動加工排程以及u上 及共问資料處理與運算動作等優點。 2對於前案或習知技街中，若遇同時使用精密加工機械 與一個以上之機械手臂共同運作，須於不同控制器上先行編 輯指令並透過有線或無線之連結始能產生機具間之溝通，容 易造成於溝通時造成錯誤，影響工作之精準度與時程且丘用 一個控制硬體與軟體時，亦 /、 即時校正。 子了於"機晝面中操控與 M360119 P8* 3. 2 5^^1 年月ie''b 了、' l 綜上所述，本案不但在空間型態上確屬創 用物α«增進上述多項功效，應已充分符合新穎性及進步性之 法定新型專利要件’爰依法提出申請，懇請貴局核准本件 新型專利中請案’以勵創作，至感德便。 【圖式簡單說明】 為本創作冑整合精密加卫機械與機械手臂的傳輪 介面整合示意圖； 圖一為該一種瞽合梓, _ 加工機械與機械手臂共用控制單 元平台的示意圖；以及 圖三為f用精密加卫機械與機械手臂Μ使用流程圖。 【主要元件符號說明】 1操作者編輯指令 2控制單元 21微處理器 22精岔加工機械控制單元 23機械手臂控制單元 3精密加工機械 4機械手臂 5被加工件The purpose of this creation is to provide the (4) (4) _ unit, which can integrate two independent and complex control units into a single __ control unit, and accurately perform any precision machining machinery and robotic arm operations according to user edit instructions. It can include complex movements such as co-movement, non-co-operation, and Newton&~ erroneous movements, synchronous waiting, and so on. The purpose of the 4 people is to improve the integration of precision-applied machinery and more than one robot arm, to achieve the purpose of controller multiplex, and reduce the cost of processing equipment. Another purpose of this creation is to use the single-control unit to set parameters for all confidential machining machines and robotic arms, increasing user convenience. The control device for integrating the precision-enhanced mechanical and mechanical arms can be achieved by the above-mentioned new purposes, including: a guard unit, and 06 has a computing capability and can simultaneously control the processing platform and the robot arm of the precision machining machine. Hardware and software that receive operator edit instructions and can issue control commands to the drive. [Embodiment] β month refers to the figure - and Figure 2 - The control device integrated with precision machining machinery and robot arm provided by this creation can control the system of Figure i and Figure 2, this system mainly includes: a precision The processing machine 3, at least - the robot arm 4 and the - control unit - (4). Among them, the precision machining M360119 ^27Ί'Χ;Γ;:η mechanical 3 and the mechanical arm 4 are independent mechanisms. LlUHj The precision machining machine 3 can receive the driving signal of the control unit 2 and provide the feedback operation (4) to the control unit 2; wherein the precision machining machine 3 is a numerical control machine tool and equipment of various types, which can automatically complete the product addition. Manufacturing process such as assembly inspection; and the control device can further include I/O contacts: 4 servo motor control contacts, AD/DA contacts, external communication functions. The robot 4 is a multifunctional computer control. The pick-and-place mechanical device is configured to receive the driving signal of the control unit 2 and provide a feedback signal for the state of the mechanical device to the control unit 2, and perform the clamping, turning, feeding, returning or processing of the workpiece 5 according to the driving signal; The operator edits the instruction to provide the editing of the operator command, and the program that edits the setting by the operator is coupled to the control unit 2, which will be described later. As shown in FIG. 2, the control unit 2 is provided with the device. A control hardware 21 capable of simultaneously controlling the precision machining machine 3 and the robot arm 4, which receives an operator edit command 1 and can issue a control finger to the control hardware 21 The drive unit 2 includes a plurality of program interpreting devices for simultaneous interpretation of the precision machining machine control and the user command of the robot arm. The control unit 2 includes a driving device for controlling each axis of the precision machining machine 3 and the robot arm, a control hardware, and a control software. The edited commands are transmitted to each control hardware via the control software, and then transmitted to the drive (four), and are subjected to The control machine makes various commands, and the confidential processing machine 3 and the robot f "feed state signal ps. 2» iri year E! M360119 to the control unit 2. The towel control hardware can include the human host, the drive, the computer micro The processing material controls the hardware unit, wherein the control software may include a precision-enhanced mechanical controller motion control software, a mechanical arm controller motion control software, and a multi-jade processing parameter, and integrate operation calculation between components of the computing controller The program software. The operation between the software of the precision machining machine control unit 22 and the software of the robot arm control unit 23 can be achieved through multiplex control technology, enabling the precision machining machine 2 and the robot arm 3 to be controlled by the same set of hardware. Operated on the platform, the movement control of the machine tool 3 and the robot arm 4 is completed by the common control unit 2 ' * Operator edit finger i is an input for providing an operator command and a program for editing and setting the operator, and is input to the control unit 2 by wire or wirelessly. The control unit 2 further includes a drive device 31 for controlling the precision machining machine 3 and the robot arm 4. , 41, in which: the control unit provides the operator with the editing instructions of the precision machining machine and the editing instructions of the robot arm! On the same human machine interface, the information is transmitted to the control software, and the operation is performed immediately. The core layer of the system sends the control and drive commands to the drive device after the control of the control hardware, and then controls (4) the processing machine 3 and the robot arm 4; the state information of the precision machining machine 3 and the robot arm 4 is periodically fed back into the single control unit. 1 control early I 2 can have multi-wei control technology, the multi-wei control technology can _ dragon with multiplex processing capability 'to achieve the purpose of multiple simultaneous control channels. The channel includes control of a precision machining machine and more than one robot M360119 arm A i ( - . < copper w control unit includes a memory unit' to record precision machining machinery control (4) Sharing information with the robot arm control unit, the precision processing machine--Ι 7L 22 and the robot arm control unit 23 can access the information of the memory unit to obtain all the information of the other party. As shown in Fig. 2, when The precision machining machine 3 and the robot f 4 receive the drive signal for controlling the early element 2, and simultaneously the workpiece 5 is gripped, inverted, fed, returned or added, and the precision is added to the machine 3 The arm 4 also feeds the actuation signal to the control unit 2, so that the control unit knows all the information currently controlled to facilitate the control unit to make any necessary corrections and updates. j. Provided by the integrated precision mechanical and mechanical arm ^ The device has the following advantages when compared with the above-mentioned citations and other conventional techniques: The precision processing machine and the robot arm of the creation share a control unit to jointly operate the pre-parameters to set up a common process scheduling and common Start processing scheduling and u and ask questions about data processing and operation. 2 In the case of the former case or the traditional technology street, if the precision machining machine is used together with more than one robotic arm, the instructions must be edited on different controllers and the communication between the tools can be generated through the wired or wireless connection. It is easy to cause errors in communication, affecting the accuracy and time course of work, and when using a control hardware and software, it also corrects. Controlled in the machine's face and M360119 P8* 3. 2 5^^1 year month ie''b, ' l In summary, the case is not only in the space type is the use of artificial α« To enhance the above-mentioned multiple functions, the statutory new patent requirements that have fully complied with the novelty and the progressiveness should be submitted in accordance with the law, and you are requested to approve the application for this new type of patent. [Simple diagram of the diagram] This is a schematic diagram of the integrated integration of the precision-enhanced mechanical and mechanical arm of the creation interface; Figure 1 is a schematic diagram of the 瞽, _ processing machinery and mechanical arm shared control unit platform; and Figure 3 Use a flow chart for precision mechanical and mechanical arming. [Main component symbol description] 1 Operator edit command 2 Control unit 21 Microprocessor 22 Fine machining machine control unit 23 Robot arm control unit 3 Precision machining machine 4 Robot arm 5 Machined parts