TWM540733U - Three-dimensional scanning processing system applied to robot arm - Google Patents

Description

Stereo scanning processing system applied to robot arm

The present invention provides a three-dimensional scanning processing system applied to a robot arm, in particular, after a workpiece is scanned by a stereo scanning system, the machining trajectory path required for the workpiece can be automatically generated to the robot arm, and the trajectory teaching of the robot arm is not required in advance. With the end of the processing tool, the workpiece needs to be processed.

According to the robot, robots are becoming more and more important in today's industrial status. Especially for repetitive work, robots can be used instead of manpower. In order to increase the speed, quality and labor cost of the work, the production line is gradually changed from labor manpower to The replacement of mechanical arms has become a trend that cannot be ignored.

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

However, another very important factor is that in the process of production, the workpieces of the same type may have some slight difference in size. If they are processed according to the same processing procedure, the defective rate of the product will increase, so processing is required. The front has a unique machining path for each workpiece. In addition, a camera (CCD) has been developed to take pictures of the workpiece to generate a trajectory, but it can only be applied to two-dimensional (2D) space, so it can be applied. There are not many occasions, and the actual benefits are not good.

Known techniques such as the Chinese Patent No. I537110 "Mechanical Arm Point Correction Method" mainly discloses scanning at least three geometric blocks using a calibration module disposed on a robot arm, wherein the geometric block is disposed on Corresponding to the surface of the vertical receiving container structure; finally, the horizontal state of the surface is determined by at least three geometrical blocks, the mechanical arm receives the horizontal state, and the adjustment of the mechanical arm into the receiving structure at a vertical azimuth will be treated The object is placed or taken out; thereby, the invention is a method for correcting the plane of the adjustable mechanical arm and the structure of the container, so that the robot arm can be vertically inserted into the container structure by automatic point correction. The object to be taken is not caused to cause impact or scratching of the object to be taken.

Therefore, this creation addresses the shortcomings of the above-mentioned practices and creates a human being. After years of experience in the development and design of related industries, the comprehensive measurement of the quality and cost of the first-line operators in the industry, after detailed design and careful evaluation, has finally achieved a practical and practical creation.

The main purpose of this creation is to provide a three-dimensional scanning processing system applied to a robotic arm to meet a unique machining path path for different workpieces, especially a three-dimensional (3D) shape, and the robot arm does not need to perform trajectory teaching in advance. The operator only needs to place the workpiece on the conveyor belt and then transport it forward. Through the scanning of the stereo scanning system, the required processing path can be generated, and then the information exchange is performed with the robot arm through the network, and the robot arm is further directed to the stereo scanning system. The provided trajectory path is optimized and filtered, and finally the end machining tool is used to perform the required machining process on the workpiece.

In order to achieve the above object, the present invention provides a three-dimensional scanning processing system applied to a robot arm, comprising: a robot arm system, a stereo scanning system, a conveyor belt system, and a processing tool, the robot arm system having at least two The axis of motion of the axis is controlled by the robot arm control system. The robot arm control system has a computer for the robot arm, a dedicated software and network interface integrated with the stereo scanning system, and the conveyor belt system has a conveyor belt controller and an object. Detecting sensor and optical encoder, the stereo scanning system has a stereo scanner, which scans and discriminates the workpiece according to the actual speed of the conveyor belt, and the stereo scanning system sends a letter to the robot arm through the network in time. For the exchange of information, the robotic arm system performs the final optimization and filtering process for the trajectory path, and performs the required machining process on the workpiece through the end-installed tool, thereby providing the operator with a simpler, more time-saving and more direct workpiece. The machining system eliminates the need for complicated parameter command operations.

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)‧‧‧Machining arm

(2)‧‧‧ Stereo Scanner

(3) ‧‧‧Processing tools

(4)‧‧‧Conveyor belt system

(5)‧‧‧Optical encoder

(6)‧‧‧ Robotic arm control system

(7)‧‧‧Processing workpieces

(8)‧‧‧ Rack platform

The first picture is a schematic diagram of the three-dimensional scanning processing system applied to the robot arm.

The second picture is a block diagram of the three-dimensional scanning processing system of the robot arm.

This creation provides a three-dimensional scanning processing system for robotic arms. The operational advantages will be detailed in accordance with 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 second figures. The present invention provides a stereo scanning processing system applied to a robot arm, which mainly comprises a mechanical arm (1), a stereo scanner (2), and a processing tool (3). Conveyor belt System (4), an optical encoder (5), a robot arm control system (6), a machined workpiece (7), and a rack platform (8).

The present invention provides a stereo scanning processing system for a robot arm, wherein the robot arm (1) has a robot arm having two or more axes of a basic axis, and the conveyor belt system (4) is matched with an optical encoder (5). The change in the position of the conveyor belt causes the optical encoder (5) to rotate to generate a signal, and the signal is transmitted back to the stereo scanner (2).

Please refer to the first figure, this application provides a three-dimensional scanning processing system applied to the robot arm, in which the operator places the processed workpiece (7) on the conveyor belt system (4) and transports the conveyor belt system ( 4) When the sensor detects that a processed workpiece (7) arrives, it triggers the stereo scanner (2) to scan the workpiece (7), and the stereo scanner (2) captures the workpiece (7) Fine-point features, contours, and edge-accurate point cloud data. Finally, the stereo scanning system generates the trajectory path that the workpiece (7) needs to be machined, coordinates conversion with the robot arm (1), and finally controls through the network and the robot arm. The system (6) exchanges information, and the aforementioned network can select an existing Ethernet.

Referring to the second figure, the robot arm control system (6) optimizes and filters the path of the trajectory provided by the stereo scanning system, and the robot arm (1) is equipped with the processing tool (3) at the end to machine the workpiece (7). The required processing program.

It can be seen from the above that the three-dimensional scanning processing system applied to the robot arm 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 its stereoscopic The scanning system generates a unique machining path for each workpiece, and the trajectory teaching is performed with respect to the instruction of the robot using the robot. The basic quality requirements of the operator are greatly reduced, and the processing of each workpiece is reduced using the same machining program. The resulting non-performing rate is in line with the industry's better industrial applicability. The foregoing is a description of the technical features of the present invention. The technical content and description disclosed above are only preferred. The embodiments of the present invention, which are subject to variations and equivalent modifications of the present invention, are considered to be within the scope defined by the following claims.

The foregoing is a detailed description of the preferred embodiments of the present invention. The technical content and description disclosed above are only preferred embodiments of the present invention, and those skilled in the art rely on it. 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.

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 described later. The scope of the patent application is listed.

In summary, the present invention provides a three-dimensional scanning processing system applied to a robot arm. With the above-described preferred embodiment, it has indeed achieved all the purposes of the present invention, and its stereo scanning system and machinery. The integration of the arm control system has not been seen in similar products, nor has it been disclosed before the application. It has complied with the provisions of the Patent Law and has filed a new type of patent application in accordance with the law.

(1)‧‧‧Machining arm

(2)‧‧‧ Stereo Scanner

(3) ‧‧‧Processing tools

(4)‧‧‧Conveyor belt system

(5)‧‧‧Optical encoder

(6)‧‧‧ Robotic arm control system

(7)‧‧‧Processing workpieces

(8)‧‧‧ Rack platform

Claims (7)

A stereo scanning processing system applied to a robot arm, comprising: a mechanical arm system, consisting of at least two axes of motion axes, consisting of at least two axes of mechanical arms, and having a mechanical arm control system; a conveyor belt system having a conveyor belt controller, an object detection sensor and an optical encoder; a stereo scanning system having a stereo scanner and electrically connected to the conveyor belt object detecting sensor and the optical encoder; a processing tool assembled The end of the robot arm, depending on the processing needs, with different processing tools and the required peripheral control system. The mechanical arm system is controlled by a mechanical arm control system , and the mechanical arm control system has a computer for a robot arm, and is integrated with a stereo scanning system, as described in the first aspect of the patent application. Software and network interface. The three-dimensional scanning processing system applied to a robot arm according to claim 1, wherein the conveyor belt system needs to be equipped with an optical encoder, and when the conveyor belt moves, the optical encoder transmits the signal to the stereo scanner in time. The stereoscopic scanning processing system for a robot arm according to claim 1, wherein the conveyor belt system is equipped with an object detecting sensor for transmitting a signal to the stereo scanner. The stereoscopic scanning processing system applied to the robot arm according to claim 1, wherein the stereoscopic scanning system extracts the point cloud data, converts the processing trajectory path, and performs coordinate conversion with the robot arm system. Stereoscopic scanning processing applied to a robot arm as described in item 2 of the patent application scope The system, wherein the robotic arm control system is equipped with a mechanical arm computer, and exchanges information with a stereo scanning system through a robotic network interface through a robotic arm. The stereoscopic scanning processing system applied to the robot arm according to the second aspect of the patent application, wherein the robot arm control system has an integrated stereo interface system software interface, and optimizes and filters the trajectory path provided by the stereoscopic scanning system.