TWM490934U - Scraping device applying robot arm having multiple degrees of freedom - Google Patents

Description

Shovel device with multi-degree of freedom robot

A shovel device, especially a shovel device using a multi-degree of freedom robotic arm.

In the prior art, the machine tool guide rail usually uses the scraping technology technology to evenly distribute the oil storage bag and the oil groove to the shovel surface of the sliding platform, so as to produce a lubricating oil groove on the hard surface of the machine tool hard track. At present, the processing of the shovel surface is manually processed by a professional shovel master, which takes a lot of processing time to complete. In addition, the current performance evaluation and processing methods of the guide rail accuracy are mostly measured by manual matching contact measuring tools, so it takes a lot of time and manpower, and the evaluation results also include manual errors, and there are many guide rail precision signals. Can not be parameterized, the above problems can only rely on the experience of the master to use repeated testing, time-consuming processing to complete the processing of the surface of the shovel. At the same time, shovel is a kind of craft, the inheritance of technology depends on the will of the master, and the accumulated experience of the learners, so that the technology is not easy to pass.

In order to solve the current surface processing process of shovel flowers, most of them have to spend more processing time by the professional shovel master. For this reason, the present invention proposes a shovel device using a multi-degree-of-freedom robot arm, which comprises a a robot arm, a shovel device, a measuring device, an XY axis moving platform and a processing module, and the robot arm, the shovel device, the measuring device and the XY axis moving platform and the processing module respectively Connected, the robot arm is disposed adjacent to the XY axis moving platform, and the processing module outputs a control signal to control the robot arm, the shovel device and the The XY axis moves the platform and performs a shovel processing step on a workpiece, wherein: the shovel device includes a shovel tool, and the shovel tool contacts a processing surface of the male member to complete the shovel processing; The measuring device measures the processing surface of the male component and outputs a 3D curved surface data; and the processing module calculates a processing path data from the 3D curved surface data, and outputs the control signal according to the processing path data.

Further, the processing module performs a compensation operation on the processing path data, and the compensation operation outputs a compensation coordinate value, and the machining surface, the blade edge of the shovel tool, and the measuring device are calculated through the compensation operation The coordinate relationship between the two, and the processing path data is corrected by the result of the compensation operation.

And the processing module controls the shovel tool to contact a tool positioning device to perform the compensation operation, wherein: the tool positioning device is disposed on the processing table; the measuring device measures a height distance between the measuring device and a positioning surface The processing module stores the height distance coordinate measured by the measuring device as a positioning center height coordinate (M _Z ); the measuring device measures the center coordinate of the positioning surface, and the processing module records the center of the positioning surface a positioning center coordinate (M _X , M _Y ); the processing module controls the robot arm such that the blade tip of the blade tool touches the positioning center coordinate (M _X , M _Y ) of the positioning surface and is processed by the processing The height coordinate of the robot arm is a contact height coordinate (T _Z ) of the positioning surface; the processing module controls the robot arm to move the edge of the shovel tool to contact the positioning surface, and calculate a positioning surface contacting the Y-axis coordinate (T _Y) stored by the processing module; the processing module controls the robot moves one edge of the scraping tool is positioned in contact with the surface of contact with the X-axis coordinate (Tx) by the processing module The contact height coordinate (T _Z), and when the processing module coordinates the positioning of the center height (M _Z), coordinate the positioning center (M _X, M _Y) is positioned in contact with the surface of the scraping tool being generated; deposit The contact Y-axis coordinate (T _Y ) and the contact X-axis coordinate (Tx) are calculated, and the processing module outputs a corrected coordinate value (E _X , E _Y , E _Z ) after the two sets of coordinates are calculated.

The processing module receives a processing parameter, and the processing module corrects the processing path data according to the processing parameter, wherein the processing parameter comprises: a contact point per square inch; a contact area per square inch; a high point of the surface of the shovel The distribution of distribution or low point; the shape of the corner of the oil groove; and the flatness of the surface of the shovel.

The shovel device comprises a binding seat, a tool holder and a plurality of motors, so that after the control signal of the processing module is received by the shovel device, the shovel tool can be processed differently by the angle change of the motor. The shovel processing of angles, different tool feeds or different shovel patterns. The measuring device is a laser displacement measuring device. The robot arm is driven by a plurality of motors to provide the robotic arm with a multi-axis movement function.

As can be seen from the above, the present invention has the following advantages:

1. It can import automatic shovel processing process for shovel parts with different planes, angles and shapes.

2. With only a small space, the new model requires only a high-rigidity multi-degree-of-freedom robot arm, a shovel processing device and a high-precision XY dual-axis mobile platform to process large workpieces. Conventional processing requires the use of a gantry machine.

10‧‧‧ Robotic arm

11‧‧‧Combination Department

20‧‧‧Shovel device

21‧‧‧Shovel cutter

22‧‧‧ joint

23‧‧‧Tool holder

30‧‧‧Measurement device

40‧‧‧XY axis mobile platform

41‧‧‧XY axis moving seat

42‧‧‧Processing table

50‧‧‧Tool positioning device

51‧‧‧ positioning surface

60‧‧‧Workpiece

70‧‧‧Processing module

Figure 1 is a perspective view of a preferred embodiment of the present invention.

2 is a perspective view of a mechanical arm of the preferred embodiment of the present invention.

3 is a perspective view of a shovel device according to a preferred embodiment of the present invention.

4 is a perspective view of the XY axis moving platform of the preferred embodiment of the present invention.

Figure 5 is a block diagram showing the function of the preferred embodiment of the present invention.

Figure 6 is a flow chart of the positioning action of the preferred embodiment of the present invention.

Figure 7 is a flow chart of the compensation operation of the preferred embodiment of the present invention.

Figure 8 is a flow chart of the compensation operation of the preferred embodiment of the present invention.

Figure 9 is a flow chart of the compensation operation of the preferred embodiment of the present invention.

Figure 10 is a flow chart of the compensation operation of the preferred embodiment of the present invention.

Figure 11 is a flow chart of the compensation operation of the preferred embodiment of the present invention.

Figure 12 is a schematic view of the surface 3D of the workpiece of the preferred embodiment of the present invention.

Please refer to FIG. 1 to FIG. 5 , which is a shovel device for applying a multi-degree-of-freedom robot arm, which comprises a robot arm 10 , a shovel device 20 , a measuring device 30 , an XY axis moving platform 40 , and a cutter . The positioning device 50 and a processing module 70.

The robot arm 10, the scribing device 20, the measuring device 30, and the XY axis moving platform 40 are respectively connected to the processing module 70, and the robot arm 10 is disposed adjacent to the XY axis moving platform 40 and is The processing module 70 outputs a control signal to control the motion thereof, so that the robot arm 10, the shovel device 20, and the XY axis moving platform 40 perform a shovel processing on a workpiece 60. The processing module 70 can be A computer or a controller.

The robot arm 10 is driven by a plurality of motors to provide the multi-axis movement function of the robot arm 10. In the present embodiment, the robot arm 10 has a 5-axis movement/rotation degree of freedom. The motor can receive the control signal of the processing module 70. The control signal includes a motor angle control or an operation sequence control, and the control signal controls the rotation angle of the motor, so that the robot arm 10 can be processed by the processing module 70. Control how it works. The robot arm 10 includes a joint portion 11 that can be combined with an external function device to enable the robot arm 10 and the external function device to complete a predetermined machining program or a handling under the control of the processing module 70. Action or, for example: the external work The energy device can be a jaw through which the robot arm 10 completes the handling operation, or the external function device can be a screwdriver through which the robot arm 10 completes the screw locking procedure between the components. In the embodiment of the present invention, the external function device is the shovel device 20, and the control signal of the mechanical arm 10 and the shovel device 20 is controlled by the processing module 70 to control the surface of the workpiece 60 to complete the shovel machining.

The shovel device 20 includes a shovel tool 21, a coupling seat 22, a tool holder 23 and a plurality of motors. The coupling portion 22 and the coupling portion 11 of the robot arm 10 can be a detachable fixed combination, for example, a screw. The tool holder 23 is fixedly coupled to the binding base 22, and the tool holder 23 can be provided with a plurality of motors and the shovel tool 21 to enable the shovel device 20 to receive the control of the processing module 70. After the signal, the blade cutter 21 can perform the shovel processing of different machining angles, different tool feed amounts or different shovel patterns by the angle change of the motor. In the embodiment of the present invention, the shovel blade 21 is fixedly coupled to the motor and then coupled to the tool holder 23, so that the shovel tool 21 has an X-axis axial rotation function, and the tool holder 23 is further provided with The motor in the axial direction of the Y-axis causes the scribing device 20 to have a rotational function of the Y-axis in the axial direction.

The XY-axis moving platform 40 includes an XY-axis moving base 41 and a processing table 42. The XY-axis moving base 41 includes a plurality of motors for driving the XY-axis moving base 41 to move. The motor can be in accordance with the processing module 70. The control signal is moved. The workpiece 60 is detachably fixedly disposed on the processing table 42 so that the workpiece 60 does not move during the shovel processing, and the fixing method can be fixed by screwing the processing table 42 or being fixed on the processing table. The clamping device is fixed.

The measuring device 30 can be disposed on the robot arm 10 or disposed on the scribing device 20, so that the measuring device 30 can approach the workpiece 60 through the movement of the robot arm 10, and the workpiece enters the measuring device 30. Within the measurement range. The measuring module 30 can measure the surface of one of the workpieces 60 The 3D surface data is outputted to the processing module 70, and the processing module 70 is The 3D surface data calculates a processing path data, and the processing path data includes a coordinate relationship between the measuring device 30 and the workpiece 60, and the robot arm 10 and the XY axis moving platform interact with each other during the shovel processing Mobile relationship.

The processing module 70 controls the robot arm 10, the scribing device 20 or the XY axis moving platform 40 according to the control signal output corresponding to the processing path data. The measuring device 30 can be a contact measuring device or a non-contact measuring device. In the new embodiment, the measuring device 30 is a laser displacement measuring device.

Referring to FIG. 6, the embodiment of the present invention includes a shovel processing step. The shovel processing step is as follows: Step 1. Fix the workpiece 60 to the processing table 42; Step 2. The processing module 70 controls the XY axis movement. The platform 40 moves the workpiece 60 to a processing area, wherein the processing area is a preferred range in which the robot arm 10 can perform the shovel processing on the XY axis moving platform 40; Step 3, the measuring device 30 The processing surface of the workpiece 60 is measured to establish the 3D surface data; in step 4, the processing module 70 calculates the processing path data according to the 3D surface data; in step 5, the processing module 70 performs a compensation operation, The compensation operation calculates the coordinate relationship between the machining surface, the blade edge of the shovel tool and the measuring device 30, and corrects the machining path data by the result of the compensation operation; Step 6. Input a processing parameter to the processing mode And further correcting the processing path data according to the processing parameter, and the processing module 70 carries the processing parameter and the 3D surface of the processing surface The processing module 70 controls the relative movement between the robot arm 10, the XY axis moving platform 40 and the scribing device 20 according to the processing path; step 7 is calculated and planned. The processing module 70 controls the robot arm 10, the shovel device 20 or the XY axis moving platform 40 to complete the shovel processing step according to the processing path data.

When the compensation operation is performed, the processing module 70 controls the blade cutter 21 to contact a tool positioning device 50 to perform the compensation operation and locate the coordinate between the machining surface, the blade edge of the blade and the measuring device 30. In the relationship, the tool positioning device 50 is disposed on the processing table 42.

The result of the compensation operation outputs a compensation coordinate value, which compensates for the position error between the measuring device 30 and the blade edge of the shovel tool 21. Referring to Figures 4-8, the compensation operation steps are as follows: 1. As shown in FIG. 4, the processing module controls the robot arm 10 to move the measuring device 30 above the tool positioning device 50, and adjust the distance between the measuring device 30 and the tool positioning device 50, so that the distance between the measuring device 30 and the tool positioning device 50 is adjusted. The tool positioning device 50 enters the measurement range of the measuring device 30, and further measures the height distance between the measuring device 30 and one of the positioning surfaces 51 of the measuring device 30 by the measuring device 30. The module 70 stores the height distance coordinate measured by the measuring device 30 as a positioning center height coordinate (M _Z ); in step 2, as shown in FIG. 5, the measuring device 30 measures the tool positioning device 50. Positioning the central coordinate of the surface 51, the processing module 70 records the center of the positioning surface 51 as a positioning center coordinate (M _X , M _Y ), where “M _X ” is the X-axis coordinate of the center of the positioning surface 51, “M _Y ” To locate the Y-axis coordinate of the center of the surface 51, wherein the positioning Heart coordinates (M _X, M _Y) of the actual measurement mode to measure the respective positioning surface 51 of the axial axis X (X _1, X ₂₎ axis and the Y axis (Y _1, Y ₂₎ between the maximum distance After the two-point coordinate, the two-point coordinate values of the maximum distance are added and averaged, and the calculation process is as follows: M _X = (X ₁ + X ₂ )/2; M _Y = (Y ₁ + Y ₂ ) / 2; Step 3, as shown in FIG. 6, the processing module 70 controls the robot arm 10 such that the blade edge of the blade tool 21 touches the positioning center coordinates (M _X , M _Y ) of the positioning surface 51, and The height coordinate of the robot arm 10 is a contact height coordinate (T _Z ) of the positioning surface 51 when the processing module 70 stores the tool tip of the blade tool touching the positioning center coordinate (M _X , M _Y ); Step 4, as shown in FIG. 7, the processing module 70 controls the robot arm 10 to move the two-point coordinates (Y ₁ , Y ₂ ) of the shovel blade 21 contacting the edge of the positioning surface 51 to form a maximum distance, and the maximum distance is After the two coordinate values are added and averaged, a contact Y-axis coordinate (T _Y ) of the positioning surface 51 is calculated and stored by the processing module 70, and the calculation process is as follows: T _Y = (Y ₁ + Y ₂₎ / _2; Step 5, as shown in FIG, 8 the processing module 70 controls the robot arm 10 moves the scraping tool 21 contacts one of the edges 51 of the contact surface of the positioning X-axis coordinate (T _x) stored by the processing module 70 The contact X-axis coordinate (T _x ) is a point having a maximum distance in the X-axis axial direction of the positioning surface 51; Step 6. The positioning center height coordinate (M _Z ) of the processing module 70 for the above step, the The contact center coordinate (M _X , M _Y ) and the contact height coordinate (T _Z ) generated when the shovel blade 21 contacts the positioning surface 51, the contact Y-axis coordinate (T _Y ), and the contact X-axis coordinate ( Tx) performs an operation, and after the two sets of coordinates are calculated, the processing module 70 outputs a corrected coordinate value (E _X , E _Y , E _Z ), and the corrected coordinate values (E _X , E _Y , E _Z ) can be compensated the robot 10 in the measuring device 30 and the position error of the scraping tip of the tool 21, the correction coordinate value _{(E X, E Y, E} Z) of the operational process at: E _X = M _X - T _X ; E _Y = M _{Y -} T _Y ; E _Z = M _{Z -} T _Z .

The processing parameters include the following: (1) points per square inch (PPI); (2) per square inch contact area (POP); (3) shovel surface Height of point (HOP) or depth of surrounding (DOS); (4) oil groove corner shape; (5) flatness of the shovel surface (Flatness).

As can be seen from the above, the present invention has the following advantages:

1. It can import automatic shovel processing process for shovel parts with different planes, angles and shapes.

2. With only a small space, the new model requires only a high-rigidity multi-degree-of-freedom robot arm, a shovel processing device and a high-precision XY dual-axis mobile platform to process large workpieces. Conventional processing requires the use of a gantry machine.

10‧‧‧ Robotic arm

20‧‧‧Shovel device

21‧‧‧Shovel cutter

30‧‧‧Measurement device

40‧‧‧XY axis mobile platform

50‧‧‧Tool positioning device

60‧‧‧Workpiece

Claims (7)

A shovel device for applying a multi-degree-of-freedom robot arm, comprising a robot arm, a shovel device, a measuring device, an XY axis moving platform and a processing module, the robot arm, the shovel device, the amount The measuring device and the XY axis moving platform are respectively connected to the processing module, the robot arm is disposed adjacent to the XY axis moving platform, and the processing module outputs a control signal to control the robot arm, the shovel device and the XY axis Moving the platform and performing a shovel processing step on a workpiece, wherein: the shovel device comprises a shovel tool, and the shovel tool contacts a processing surface of the male member to complete the shovel processing; the measurement The device measures the processing surface of the male component and outputs a 3D surface data; and the processing module calculates a processing path data from the 3D surface data, and outputs the control signal according to the processing path data. For example, in the shovel device of the multi-degree-of-freedom robot arm of claim 1, the processing module performs a compensation operation on the processing path data, and the result of the compensation operation outputs a compensation coordinate value, and the compensation operation calculates The machining surface, the tool tip of the shovel tool, and the coordinate relationship between the measuring devices, and correcting the machining path data by the result of the compensation operation. For example, the shovel device of the multi-degree-of-freedom robot arm of claim 2, the processing module controls the shovel tool to contact a tool positioning device to perform the compensation operation, wherein: the tool positioning device is disposed on the processing table The measuring device measures a height distance between the measuring device and a positioning surface of the tool positioning device, and the processing module stores the height distance coordinate measured by the measuring device as a positioning center height coordinate (M _Z ); The measuring device measures the center coordinate of the positioning surface, and the processing module records the center of the positioning surface as a positioning center coordinate (M _X , M _Y ); the processing module controls the robot arm to make the shovel tool The tool tip touches the positioning center coordinate (M _X , M _Y ) of the positioning surface, and the height coordinate of the robot arm is stored by the processing module as a contact height coordinate (T _Z ) of the positioning surface; the processing module controlling the robot arm moves the edge of the scraping tool is positioned in contact with the surface, the calculated Y-axis coordinate of the contact with a positioning surface (T _Y) stored by the processing module; the processing module controls the robot arm One actuate the scraping tool is positioned in contact with the edge of the contact surface of the X-axis coordinate (Tx) by the storage process module; processing module and the coordinates of the center height positioning (M _Z), the positioning center coordinates _(X M And M _Y ) calculating the contact height coordinate (T _Z ), the contact Y-axis coordinate (T _Y ), and the contact X-axis coordinate (Tx) generated when the shovel tool contacts the positioning surface, the two After the group coordinates are calculated, the processing module outputs a corrected coordinate value (E _X , E _Y , E _Z ). The processing module receives a processing parameter, and the processing module corrects the processing path data according to the processing parameter, wherein the processing parameter comprises: The number of contact points per square inch; the contact area per square inch; the distribution of the high point of the shovel surface or the distribution of the low point; the shape of the oil groove corner; and the flatness of the shovel surface. Such as the shovel device of the multi-degree-of-freedom robot arm of the fourth application of the patent scope, the shovel The flower device comprises a binding seat, a tool holder and a plurality of motors, so that the shovel device can perform the shovel processing by the angle change of the motor after receiving the control signal of the processing module. For example, the shovel device of the multi-degree-of-freedom robot arm is applied in the fifth aspect of the patent application, and the measuring device is a laser displacement measuring device. For example, the shovel device of the multi-degree-of-freedom robot arm of the sixth application of the patent scope is driven by a plurality of motors to enable the robot arm to have a multi-axis movement function.