M409915 •五、新型說明： 【新型所屬之技術領域】 本創作係關於一種機械手臂荷重裝置，特別是指—種有 效提升加工效率的機械手臂荷重裝置。 【先前技術】 - 按，為了提高加工效率與精準度，數值控制的機械手臂 Φ 加工機械已成為目前加工機具的主流，其可克服操作員的人 為誤差並提升加工件的精準度，因此加工件在進行加工時， 需要重新調整最佳化的參數，以克服前述影響加工件精準度 的問題，一般加工材料非常多種，例如金屬材質的有：金、 銀、銅、鐵、錫、鋁等，而非金屬材質的有：壓克力、電木、 塑膠、薄膜等，其所加工的方法也有所不同，當機械手臂面 對於不同材質的工件荷重，需要設定不同的系統參數才能產 φ'生有效率的運作，在數量少及多樣式的工件製程下，每次更 •換工件的荷重或調整機械手臂的移動速率，皆需重新設定— 套屬於該工件的最佳化參數，對於講求速度與效益的機械手 臂是諸多不便的缺點。 上述習用調整最佳化參數的步驟’將佔據生產階段一定 的時間，尤其是生產週期短之高科技行業，每日所面臨之生 產與下單狀況變化快速而不可預測，迫使生產的速度及品質 相對降低，並且影響完成品交貨的時間，造成公司商譽的損 3 M409915 失。 由此可見，上述習用物品仍有諸多缺失實非一良善之 設計者，而亟待加以改良。 本案創作人㈣上述習㈣械手臂荷重裝置所衍生的各 項缺點，乃巫思加以改良創新，並經多年苦心孤t旨潛心研究 後，終於成功研發完成本件機械手臂荷重裝置。 【新型内容】 本創作之目的即在於提供—種機械手臂荷重裝置，藉以 能依照不同加卫特性及卫件㈣，選擇最佳化的加工參數， 並且能有效節省操作員調整參數的時間，進而提升加工的效 能與穩定性。 本創作之另-目的即在於提供—種機械手f荷重裝置， 控制裝置内並設有-參數建立模組’而該參數建立模組可透 過控制裝置依照不同加工特性’建立新的加工參數並將該 新的加工參數儲存於多級荷重模組内。 可達成上述創作目的之機械手臂荷重裝置，包括具有一 工具機，係連接有-主轴與—床台，該主轴用於進行:件之 加工處理，而該床台心承載待加丄之卫件且該工具機旁 上 另設有-機械手臂’用於挾持工件以放置或搬離於床 其特徵在於； 該機械手臂包括有一控制裝置 ^ 及具有多級荷重模組 的感測裝置，該控制裝置可供操作人 貝選擇欲加工之模式並 4 M409915 連結多級荷重模組，該感剩裝置可將工件的重量自動對 應多級荷重模組並以件重量分級，分級後的卫件重量並換 算成機械手臂的可搬重量，使機械手臂以 、 量來分配機械手臂對工件的搬運力量。 μ 疋可搬重 【實施方式】 包括具有-工具機i，係連接有一主肖u與—床台U，該 主轴U用於進行工件3之加卫處理，而該床台12用以承載 π別ar/r從供之機械手臂荷M409915 • V. New description: [New technical field] This creation is about a mechanical arm load device, especially a mechanical arm load device that effectively improves processing efficiency. [Prior Art] - In order to improve the processing efficiency and precision, the numerically controlled robot arm Φ processing machinery has become the mainstream of the current processing tools, which can overcome the operator's human error and improve the precision of the workpiece, so the workpiece When processing, it is necessary to re-adjust the optimized parameters to overcome the aforementioned problems affecting the accuracy of the workpiece. Generally, there are many kinds of materials to be processed, such as metal, gold, silver, copper, iron, tin, aluminum, etc. Non-metallic materials: acrylic, bakelite, plastic, film, etc., the processing methods are also different. When the mechanical arm surface is loaded with different materials, different system parameters need to be set to produce φ' Efficient operation, in the case of a small number of multi-patterned workpiece processes, each time changing the load of the workpiece or adjusting the moving speed of the robot arm, it needs to be reset - the optimization parameters belonging to the workpiece, for the speed The mechanical arm with benefits is a disadvantage of many inconveniences. The above steps of adjusting the optimization parameters will occupy a certain period of production, especially in the high-tech industry with short production cycle. The daily production and order status changes are fast and unpredictable, forcing the speed and quality of production. Relatively lower, and affect the delivery time of the finished product, resulting in the loss of the company's goodwill 3 M409915 lost. It can be seen that there are still many designers who are not good at the above-mentioned items, and they need to be improved. The creators of this case (4) The shortcomings derived from the above-mentioned (4) mechanical arm load devices are the innovations and innovations of Wu Si, and after years of painstaking research, they finally successfully developed and completed the mechanical arm load device. [New content] The purpose of this creation is to provide a mechanical arm load device, which can select the optimal processing parameters according to different reinforcement characteristics and guards (4), and can effectively save the operator time to adjust the parameters, and then Improve the efficiency and stability of processing. Another object of the present invention is to provide a robotic load device, and a control parameter setting module is provided in the control device, and the parameter setting module can establish new processing parameters according to different processing characteristics through the control device. The new processing parameters are stored in the multi-level load module. The robotic arm load device capable of achieving the above-mentioned creation purpose comprises a machine tool, which is connected with a spindle and a bed table, wherein the spindle is used for processing: the bed core carries the guard to be twisted And the machine tool is further provided with a mechanical arm for holding the workpiece to be placed or removed from the bed. The robot arm comprises a control device and a sensing device having a multi-level load module, the control device The device can be used by the operator to select the mode to be processed and the 4 M409915 is connected to the multi-stage load module. The residual device can automatically correspond the weight of the workpiece to the multi-stage load module and the weight of the piece, and the weight of the guard after the classification It is converted into the movable weight of the robot arm, and the robot arm distributes the handling force of the robot arm to the workpiece by the amount.疋 疋 搬 【 实施 实施 实施 实施 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 Don't ar/r from the robotic arm
待加工之工件3’且該工具機丨旁另設有—機械手臂2，用 於挾持工件3以放置或搬離於床台12上，其特徵在於； 該機械手臂2包括有—控制裝置22及—具有多級荷重 22可供操作人員選擇 模組211的感測裝置21，該控制裝置 欲加工之模式並電性連結多級荷重模組211，該感測裝置Μ 可將工件3的重量自動對應多級荷重模組211並將工件3重 量分級，分級後的工件3重量並換算成機械手臂2的可搬重 量，使機械手臂2以對應的額定可搬重量來分配機械手臂2 對工件3的搬運力量。 其中該多級荷重模組21丨可透過感測裝置21依不同工件 3重量，建立對應之加工參數，並將該新的加工參數儲存於 多級荷重模組211内。 其中該感測裝置21可為一荷重感測裝置，用以感測該工 5 M409915 件3重！並且輸出一加工參數，建立於多級荷重模組川内。 其中該多級荷重模組211 it而包括有一參數建立模組 212,可提供操作員自行透過該控制裝置22内設有—參數建 立模組212，依照不同加工特性及工件3材質，建立新的加 工參數模組’並將該新的加工參數模組儲存於多級荷重模组 211内’當工件3屬於單-且量多的情沉下，操作人員可透 過多級荷重模組211，進行機械手臂2的運作與提止。a workpiece 3' to be processed and a mechanical arm 2 for holding the workpiece 3 to be placed or removed from the bed 12, characterized in that the robot arm 2 includes a control device 22 And having a multi-stage load 22 for the operator to select the sensing device 21 of the module 211, the control device is to be processed and electrically connected to the multi-stage load module 211, which can measure the weight of the workpiece 3. Automatically corresponding to the multi-stage load module 211 and classifying the weight of the workpiece 3, and the weight of the workpiece 3 is converted into the movable weight of the robot arm 2, so that the robot arm 2 distributes the robot arm to the workpiece with the corresponding rated movable weight. 3 handling power. The multi-stage load module 21A can establish corresponding processing parameters through the sensing device 21 according to different workpiece weights, and store the new processing parameters in the multi-stage load module 211. The sensing device 21 can be a load sensing device for sensing the weight of the machine 5 M409915! And output a processing parameter, built in the multi-level load module. The multi-level load module 211 includes a parameter setting module 212, and the operator can provide a parameter setting module 212 through the control device 22, and establish a new one according to different processing characteristics and the material of the workpiece 3. The processing parameter module 'stores the new processing parameter module in the multi-stage load module 211. 'When the workpiece 3 belongs to a single-and a large amount, the operator can perform the multi-stage load module 211. The operation and lifting of the robot arm 2.
本創作另-實施例，請參閱圖二，步驟1首先該控制農 置22以等速的速度操控機械手臂2並挾持__固定荷重之工 件3，此時控制裝S 22將經由一感測裝置2ι取得驅動機械 手臂2之馬達扭力數值’且再透過感測裝置21取得機械手 臂2移動速度的數值，並將馬達扭力與機械手臂2移動速度 兩種數值交叉運算，記錄於控制裝置22中的多級荷重模組 211。 步驟2,該控制裝置22再操作該機械手臂2由低速到高 速進行不同階段的擺動，並且將機械手臂2各階段擺動所取 得的速度參數記錄於控制裝置22中的多級荷重模組。 步驟3,該控制裝£ 22操控機械手臂2挟持工件3荷重 係數較低之工件3,並重覆上述步驟丨及步驟2之動作，一 直記錄到機械手臂2所能承受之最大荷重為止，並將所_ 之參數紀錄於控制裝置22中的多級荷重模組Η〗，即完成多 級荷重模組2 11之建立。 6 M409915 . 請參閱圖三，操作人員藉由控制裝置22操控機械手臂2 挾持一未知荷重之工件3進行擺動時，該感測裝置2ι將取 得驅動機械手臂2之馬達扭力數值，再透過感測裝置21取 得機械手臂2移動速度的數值，並將馬逹扭力與機械手臂2 移動速度兩種數值交叉運算，傳送至控制裝置22中的多級 荷重模組211，多級荷重模組211將所接收到的馬達扭力與 移動速度兩種數值，判斷多級荷重模組211裡最佳化之一組 • 參數值，進而進行最佳化之挾持工件3之作動。 本創作所提供之機械手臂荷重裝置，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： 一、 有效節省操作員調整參數的時間，進而提升加工的 效能與穩定性。 二、 操作員可自行透過參數建立模組212建立多級荷重 模組211，使操作員更靈活便利操控機械手臂2。 • 上列詳細說明係針對本創作之一可行實施例之具體說 明，惟該實施例並非用以限制本創作之專利範圍，凡未脫離 本創作技藝精神所為之等效實施或變更，均應包含於本案之 專利範圍中。 综上所述，本案不但在空間型態上確屬創新，並能較習 用物品增進上述多項功效，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_ #局核准本件 新型專利申請案’以勵創作’至感德便。 7 M409915 【圖式簡單說明】 圖一為本創作機械手臂荷重裝置之立體圖； 圖二為該機械手臂荷重裝置之流程圖； 圖三為該機械手臂荷重裝置之操作流程圖。 【主要元件符號說明】 1 工具機 11主軸 12 床台 2 機械手臂 2 1感測裝置 211多級荷重模組 2 1 2 參數建立模組 22 控制裝置In another embodiment, please refer to FIG. 2, step 1 firstly controls the agricultural device 22 to control the robot arm 2 at a constant speed and hold the __ fixed load workpiece 3, at which time the control device S 22 will pass a sensing. The device 2 ι obtains the motor torque value ' of the driving robot arm 2 and obtains the numerical value of the moving speed of the robot arm 2 through the sensing device 21 , and cross-calculates the motor torque and the moving speed of the robot arm 2 , and records it in the control device 22 . The multi-level load module 211. In step 2, the control device 22 re-operates the robot arm 2 to perform different stages of swinging from low speed to high speed, and records the speed parameters obtained by swinging the stages of the robot arm 2 in the multi-stage load module in the control device 22. Step 3, the control device 22 controls the robot arm 2 to hold the workpiece 3 with a lower load factor of the workpiece 3, and repeats the above steps and the action of step 2, until the maximum load that the robot arm 2 can bear, and The parameter of _ is recorded in the multi-level load module 控制 in the control device 22, that is, the establishment of the multi-stage load module 2 11 is completed. 6 M409915. Referring to FIG. 3, when the operator controls the robot arm 2 to hold the workpiece 3 of an unknown load by the control device 22, the sensing device 21 obtains the motor torque value of the driving robot 2, and then transmits the sensing torque. The device 21 obtains the numerical value of the moving speed of the robot arm 2, and cross-calculates the horse's torsion force and the moving speed of the robot arm 2 to be transmitted to the multi-stage load module 211 in the control device 22, and the multi-stage load module 211 The received motor torque and the moving speed are used to determine one of the parameter values of the multi-stage load module 211, and the optimization of the workpiece 3 is performed. The mechanical arm load device provided by the present invention has the following advantages when compared with the aforementioned cited cases and other conventional techniques: 1. Effectively saves the time for the operator to adjust the parameters, thereby improving the efficiency and stability of the processing. Second, the operator can establish a multi-level load module 211 through the parameter setting module 212, so that the operator can more flexibly and conveniently manipulate the robot arm 2. • The detailed description above is intended to be a specific description of one of the possible embodiments of the present invention, and is not intended to limit the scope of the present invention. In the scope of the patent in this case. In summary, this case is not only innovative in terms of space type, but also can enhance the above-mentioned multiple functions compared with the customary items. It should fully comply with the statutory new patent requirements of novelty and progress, and apply in accordance with the law. Approved this new type of patent application 'to encourage creation' to the sense of virtue. 7 M409915 [Simple description of the drawing] Figure 1 is a perspective view of the load device of the robot arm; Figure 2 is a flow chart of the load device of the robot arm; Figure 3 is a flow chart of the operation of the load device of the robot arm. [Main component symbol description] 1 Machine tool 11 Spindle 12 Bed table 2 Robot arm 2 1 Sensing device 211 Multi-level load module 2 1 2 Parameter setting module 22 Control device