TWM483850U - Multi-joint robot arm with trajectory teaching - Google Patents

Description

Multi-joint robotic arm with trajectory guidance

The present invention provides a multi-joint robotic arm with trajectory teaching, in particular to provide a PC software interface and a hardware operation device, which automatically perform file creation after the operator actually grasps the teaching arm operation trajectory, and provides an execution robot to perform actual operation work. The operator can use the robot arm more intuitively and efficiently without enriching relevant professional experience. The execution result of the robot arm can be accurately compared through the PC interface, and the operation can be accurately grasped.

According to the mechanical status of the robot arm, it is becoming more and more important in today's industrial position. Especially for the work of repetitive nature, the mechanical arm can be used instead of human. In order to increase the speed, quality and labor cost, the production line is gradually replaced by the labor force to the mechanical arm. It has become a trend that cannot be ignored.

However, at present, the operation mode of the robot arm basically uses a special teacher to issue a parameter command, and the teaching trajectory is completed by moving the position of the end coordinate or adjusting the rotation angle of each joint. Because the process is quite complicated, the operator itself is not familiar with the parameter command. Or no relevant professional knowledge, the risk of mechanical collisions and the waste of time, making a simple trajectory teaching may take more than half a day, which is not effective for the factory production line.

In addition, the robot arm operation mode is also operated by the teaching machine mode, and the analog signal is directly transmitted to the execution machine by the teaching machine, so that the operator can easily use the signal, but the signal conversion has no numerical position display for comparison. And relying solely on the theoretical value estimation of the analog sensor and the controller, after the analog signal conversion, the accuracy of the overall path execution has defects that cannot be grasped, and the action has the action without precision operation. In addition, the new mechanical arm has recently developed. In a compliant manner, the operator directly grasps the end of the robot arm for trajectory teaching, but this teaching method is not the basic function of the robot arm. It is necessary to purchase additional expensive sensing components to be attached to the end of the robot arm, and to match its exclusive The application software can be used, and a robotic arm is a set of backups. If there are multiple robotic arms at the same time, the representative has to spend a considerable amount of extra cost, and there are also mechanical arm advertised without the need to install sensing components. But with its exclusive and more expensive application software, the cost is high. The benefit ineffective.

Therefore, this creation is aimed at the shortcomings of the above-mentioned practices. The founder has been engaged in rich development and design experience of related industries for many years, comprehensively measuring the quality and cost of the first-line operators in the industry, and after detailed design and careful evaluation. In the end, I have a practical and practical creation.

The main purpose of this creation is to provide a multi-joint robotic arm with trajectory teaching, in order to conform to the concept of convenient operation, which can be used to create a teaching trajectory with a humanized PC firmware interface. The operator only needs to activate the memory to grasp it by hand. Take the teaching of the arm structure through lightweight design, and easily carry out the trajectory teaching, waiting for the track At the end of the trace teaching, the track file moved by the player will be automatically generated and stored. This will also avoid the risk of collision of personnel in the synchronous teaching operation. Simply download the track file to any execution form such as network or USB flash drive. The arm controls the PC firmware, and you can run the action that you have been taught repeatedly. In addition, as long as the robot arm has the same structure, the file taught by the single teaching arm can be used with one or N execution robots, and the function is quite flexible. The teaching robot arm is also designed to be lightweight and simple, so that the user can achieve the required function at a relatively low cost.

To achieve the above objective, the present invention provides a multi-joint robotic arm with trajectory teaching, which comprises: a teaching arm, a teaching arm control box, a PC for teaching an arm and a special software, and an executing machine equipped with an AC servo motor. The arm, a control box for executing the robot arm, a PC for the execution arm and the special software, and an AC servo controller for the arm, the teaching arm is composed of a minimum of two axes, each of which is equipped with an encoder. The teaching institution manually grasps the operation through the operator. When the movement between the axes changes, the encoder sends the conversion signal back to the teaching arm to store the path in time with the PC. After the simulation of the whole motion is completed, the file is completed and only needs to be filed. By downloading the file to a PC for an actuator robot equipped with an AC servo motor for file reading and execution, the teaching trajectory action can be run indefinitely, and only a single teaching is required for the execution robot that pre-executes the same machining action. After that, the file can be shared by multiple execution robots; thereby providing operators with easier and more time-saving More direct teaching of the system parameters without complex instructions.

In addition, the use of the robot arm not only requires multi-axis simultaneous motion but also requires considerable precision. The humanized firmware interface provides instant information such as the numerical display of the operator's motion axes, the walking angle, the motion state, and the positioning of the servo motor. Find problems quickly and adjust them instantly by numerical comparison.

With regard to the technical and functional advantages of this creation, a detailed description of the preferred embodiment and the accompanying drawings will enable the review board to have an in-depth and specific understanding of the creation.

(1) ‧‧‧Teach the arm

(11)‧‧‧Teach arm unit

(12)‧‧‧Encoder

(2) ‧‧‧executing robotic arm

(21)‧‧‧Execution robotic unit

(22)‧‧‧AC servo motor

(3) ‧‧‧Teach arm control box

(31) ‧‧‧Teaching arm PC

(32)‧‧‧Teach the arm to use the screen

(4) ‧‧‧Execution robotic control box

(41) ‧‧‧PC for robotic arm

(42)‧‧‧Executing the screen for the robotic arm

(43)‧‧‧Executing AC servo motor for robot arm

(5)‧‧‧Conveyor belt

(51)‧‧‧ Sensors

The first picture is a schematic diagram of the author's teaching arm.

The second picture is a schematic diagram of the execution of the robot.

The third figure is a schematic diagram of the teaching arm system of the preferred embodiment of the present invention.

The fourth picture is a block diagram of the operation of the arm.

The fifth picture is a block diagram of the operation of the robot arm.

The sixth figure is a block diagram of the operation arm of the preferred embodiment of the present invention.

The seventh figure is the teaching of the preferred embodiment of the present invention. The arm is used to execute the robotic arm in the production line operation process.

This creation provides a multi-joint robotic arm with trajectory guidance. The operational advantages will be detailed in the following diagrams in conjunction with the implementation details, so that your reviewers can have a further and specific understanding and understanding of this creation.

First, please refer to the first to sixth figures. This creation provides a multi-joint robotic arm with trajectory teaching, which mainly includes a teaching arm (1), a teaching arm control box (3), and a teaching arm PC ( 31), and an executive robot arm (2), an AC servo motor (22), an executive robot control box (4), a robotic PC (41), an arm (1) and an executive robot ( 2) Both use a common PC-specific software.

A multi-joint robotic arm with trajectory teaching provided by the present invention, wherein the teaching arm (1) has a teaching arm unit (11) having two or more axes of a basic axis, and a lightweight design having the same size as the execution robot (2) Structure, and each arm unit (11) joint is equipped with an encoder (12), when the operator grabs the teaching arm (1) for trajectory running, the encoder (12) will be taught by each arm unit (11) The position change causes the encoder (12) to rotate to generate a signal, and the signal is transmitted back to the teaching arm control box (3), and the teaching arm of the built-in axis card is used by the PC (31) through the self-developed special software. Data processing and recording, the overall teaching process through the teaching arm screen (32) to instantly display the data of each axis and the presence or absence of the extreme limit movement, to be archived after the end of the operation; and the teaching arm unit of the preferred embodiment shown in the figure ( 11) A total of six are used as a six-axis robotic arm.

An executive robot arm (2) is designed to have the same structure of the actuator arm unit (21) as the teaching arm (1), and a reinforced design structure of the same size as the teaching arm (1), and equipped with an AC servo motor (22) ), the operation mode is read by the execution robot arm PC (41), and the operation command is issued by the self-developed special software for the execution of the robot arm AC servo controller (43). The numerical display on the body interface is displayed on the execution robot screen (42), which can be used to understand the operation of each actuator arm unit (21) in a timely manner; among them, the various overload protection mechanisms of the motor use common conventional techniques. This is not detailed here.

Please refer to the fourth figure. This creation provides a multi-joint robotic arm with trajectory teaching, in which the trajectory simulation is first performed by manually grasping the teaching arm (1), which teaches the arm with a multi-joint unit with an optical encoder. When the operator pulls the arm to change position, the encoder (12) of each joint transmits the signal to the teaching arm control box (3) through the 360-degree encoder reading, and the signal is transmitted back to the teaching arm PC (3) and Independently develop special software to record and record the track.

Please refer to the fifth figure. This creation provides a multi-joint robotic arm with trajectory teaching. The robotic arm is equipped with a multi-joint unit equipped with an AC servo motor, which is transmitted through the file and is executed by the execution robot in the PC (41). The self-developed special software receives the file and executes it, and transmits the command to the execution robot control box (4) through the axis controller to execute the robotic AC servo controller (43), which executes the robot arm AC servo controller (43). Then, the running command is issued to the AC servo motor (22), and the AC servo motor (22) is compensated by the closed loop mode to accurately realize the execution of the teaching trajectory, and the servos can be synchronously analyzed by executing the robot-specific software. Whether the motor has actually reached the position.

Referring to the sixth figure, the above-mentioned teaching arm uses the PC (31) to teach the trajectory file, and the file can be transmitted to the execution robot PC (41) by various types of storage devices such as the network or USB, SD CARD, and the like. File reading and execution.

Referring to the seventh embodiment, a preferred embodiment is applied to the application of the conveyor belt (5) plus the sensor (51) for teaching results and execution, and the production line can be extremely fast when the working properties are the same. Complete the trajectory teaching and put it into production line application.

The teaching arm (1) of this creation uses aluminum alloy as the main structural material, and through the structural reinforcement design, the teaching arm (1) is lightweight, so that the operator can operate the teaching arm (1) to save labor and achieve faster teaching. The operation trajectory of the arm (1) teaches storage; at the same time, the structure of the robot arm (2) can be lightened and reinforced, which makes the execution of the robot arm (2) less laborious and does not accelerate the wear due to the structure being too heavy. Can effectively extend the service life.

It can be seen from the above that the multi-joint mechanical arm trajectory teaching technology of this creation is indeed the first in the industry and meets the novel requirements of the new patent. The innovative design concept conforms to the progressive requirements of the new patent, and it is directly Grasping the teaching method of teaching the arm for more intuitive trajectory simulation, the basic quality requirements of the operator will be greatly reduced compared with the use of the instructional input command, in line with the industry's better industrial use.

The foregoing description of the preferred embodiments of the present invention is specifically described for the technical features of the present invention; however, the technical content and description disclosed above are only preferred embodiments of the present invention, and those skilled in the art are Changes in the characteristics of the present invention and equivalent modifications are considered to be within the scope defined by the scope of the following claims.

In summary, the creation department provides a multi-joint mechanism with trajectory teaching. The arm, by the above-described preferred embodiment, has indeed achieved all the purposes of the present invention, and teaches that the arm system and the executive arm system are independent of each other and the computer interface type is not found in the same product, nor has it ever been Before the application is made, it has complied with the provisions of the Patent Law, and has filed a new type of patent application in accordance with the law.

The above embodiments are merely illustrative of the techniques of the present invention and their effects, and are not intended to limit the present invention. Anyone skilled in the art can modify and change the above embodiments without violating the technical principles and spirit of this creation. Therefore, the scope of protection of this creation should be as listed in the patent application scope mentioned later. .

(1) ‧‧‧Teach the arm

(2) ‧‧‧executing robotic arm

(3) ‧‧‧Teach arm control box

(31) ‧‧‧Teaching arm PC

(32)‧‧‧Teach the arm to use the screen

(4) ‧‧‧Execution robotic control box

(41) ‧‧‧PC for robotic arm

(42)‧‧‧Executing the screen for the robotic arm

(43)‧‧‧Executing AC servo motor for robot arm

Claims (6)

A multi-joint robotic arm with trajectory teaching, comprising: a teaching arm, the teaching arm is composed of a movement axis of at least two axes; a teaching arm control box, a teaching arm PC, built-in special software; an executing machine The arm, the device and the teaching arm have the same number of motion axes; an executive robot control box, equipped with an AC servo motor, and has a PC for executing the robot arm, which is built with the same software as the PC for teaching the arm; by the operator The manual grasping operation teaches the arm, and the path of the manual execution is memorized into a track file by the teaching arm control box, and then the track file is downloaded to the PC for executing the robot arm equipped with the AC servo motor, and the file is read and executed. The teaching trajectory action is repeated repeatedly indefinitely. The multi-joint robotic arm with trajectory teaching according to claim 1, wherein each arm of the teaching arm is equipped with an encoder, and when the movement between the axes changes, the encoder timely transmits the conversion signal through the axle card. To teach the arm to use the PC for path storage, and finish and build the file after the overall motion simulation is completed. The multi-joint robotic arm with trajectory teaching as described in claim 1, wherein the teaching arm has the same number of motion axes and the slewing arm length as the execution of the robot arm design. The multi-joint robotic arm with trajectory teaching as described in claim 1 of the patent application, wherein the teaching arm mechanism is made of aluminum alloy, and the lightweight design makes the operator easy to grasp. Multi-joint manipulator with trajectory teaching as described in claim 1 An arm, wherein the robot arm control is performed, and the track file of the teaching arm is read by the PC and the special software, and the command is sent to the servo control motor to perform the trajectory movement through the axis card, and the motion data of each axis is synchronously viewed through the software to achieve the Intuitive trajectory reproduction. A multi-joint robotic arm with trajectory teaching as described in claim 1, wherein the teaching arm can be used for a plurality of executive robot arms.