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US 10,967,510 B2Granted
Robot arm processing system and method thereof
AssigneeIndustrial Technology Research Institute
InventorsChen-Yu Kai, Kai-Ming Pan, Yen-Cheng Chen, Ta-Jen Peng
Life of this patent
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Abstract
A robot arm processing system includes a robot arm, a processing module, and a control module. The robot arm is for providing a mechanical holding force. The processing module is disposed on the robot arm to process a workpiece. The control module is connected to the robot arm or the processing module. The control module outputs an anti-vibration signal according to the reaction force of the workpiece or the displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm.
Claims21
A robot arm processing system, comprising:
- a robot arm for providing a mechanical holding force;
- a processing module disposed on the robot arm for processing a workpiece;
- and
- a control module connected to the processing module for outputting an anti-vibration signal according to a reaction force of the workpiece to counteract the reaction force of the workpiece;
- wherein, the processing module comprises a feeder unit and a pre-pressing unit, the feeder unit comprises a tool and a driver for driving the tool to process the workpiece, the pre-pressing unit connects between the robot arm and the feeder unit, the pre-pressing unit comprises a holding platform for holding the feeder unit and a plurality of pre-pressing rods, and the mechanical holding force is applied to the workpiece through the plurality of pre-pressing rods,
- wherein the control module determines a posture of the holding platform according to a displacement of a geometric center of the holding platform, when it is detected that the pre-pressing rods have same length with respect to the workpiece, the geometric center of the holding platform has a first coordinate value, and when it is detected that the pre-pressing rods have different lengths with respect to the workpiece, the geometric center of the holding platform has a second coordinate value different from the first coordinate value,
- wherein a hardness of the pre-pressing rod is greater than a hardness of the robot arm, and the mechanical holding force is greater than the reaction force of the workpiece.
4 more elements
A robot arm processing method, comprising:
- providing a mechanical holding force by a robot arm;
- processing a workpiece by a processing module disposed on the robot arm, wherein the processing module comprises a feeder unit and a pre-pressing unit, the feeder unit comprises a tool and a driver for driving the tool to process the workpiece, the pre-pressing unit connects between the robot arm and the feeder unit, the pre-pressing unit comprises a holding platform for holding the feeder unit and a plurality of pre-pressing rods, and the mechanical holding force is applied to the workpiece through the plurality of pre-pressing rods, and the mechanical holding force having a direction inverse to a direction of a reaction force of the workpiece is applied to the workpiece through the pre-pressing unit, wherein a hardness of the pre-pressing rod is greater than a hardness of the robot arm, and the mechanical holding force is greater than the reaction force of the workpiece;
- and
- connecting a control module to the processing module for outputting an anti-vibration signal according to the reaction force of the workpiece to counteract the reaction force of the workpiece, wherein a posture of the holding platform is determined by the control module according to a displacement of a geometric center of the holding platform, when it is detected that the pre-pressing rods have same length with respect to the workpiece, the geometric center of the holding platform has a first coordinate value, and when it is detected that the pre-pressing rods have different lengths with respect to the workpiece, the geometric center of the holding platform has a second coordinate value different from the first coordinate value.
1 more element
A robot arm processing method, comprising:
- providing a mechanical holding force by a robot arm;
- processing a workpiece by a processing module disposed on the robot arm, wherein the processing module comprises a feeder unit, a pre-pressing unit, a sensing unit and an impedance simulation unit, the feeder unit comprises a tool and a driver for driving the tool to process the workpiece, the pre-pressing unit connects between the robot arm and the feeder unit, the pre-pressing unit comprises a holding platform for holding the feeder unit and a plurality of pre-pressing rods, and the mechanical holding force is applied to the workpiece through the plurality of pre-pressing rods, the mechanical holding force having a direction inverse to a direction of a reaction force of the workpiece is applied to the workpiece through the pre-pressing unit, wherein a hardness of the pre-pressing rod is greater than a hardness of the robot arm, and the mechanical holding force is greater than the reaction force of the workpiece, the sensing unit is connected to the feeder unit for detecting a loading signal outputted by the feeder unit when the feeder unit processes the workpiece, and the impedance simulation unit is disposed between the feeder unit and the robot arm for evaluating the reaction force of the workpiece according to the loading signal outputted by the feeder unit to output a virtual impedance;
- and
- connecting a control module to the impedance simulation unit for outputting an anti-vibration signal according to the virtual impedance to counteract the reaction force of the workpiece, wherein a posture of the holding platform is determined by the control module according to a displacement of a geometric center of the holding platform, when it is detected that the pre-pressing rods have same length with respect to the workpiece, the geometric center of the holding platform has a first coordinate value, and when it is detected that the pre-pressing rods have different lengths with respect to the workpiece, the geometric center of the holding platform has a second coordinate value different from the first coordinate value.
1 more element
Dependencies are inferred from the claim text.