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Device and method for controlling a robotic arm

A technology of robotic arms and control devices, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex monitoring methods, reduced production efficiency of robotic arms, and difficulties in robotic arms

Active Publication Date: 2020-06-12
TECHMAN ROBOT INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, in the existing technology, when the monitoring point exceeds the moving speed limit, the lowering of the moving speed of a single monitoring point will change the end point E of the robot arm to the moving path 10, resulting in deviation from the optimal teaching moving path and speed, and increasing the speed of the robot arm. Working hours, resulting in reduced productivity of the robotic arm
In addition, in the prior art, the robot arm selects the monitoring point, and the moving speed of each monitoring point on the robot arm needs to be calculated one by one. The monitoring method is relatively complicated, especially for the multi-axis overlapping robot arm.

Method used

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  • Device and method for controlling a robotic arm
  • Device and method for controlling a robotic arm

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Embodiment Construction

[0030] In order to achieve the above-mentioned purpose, the technical means and effects thereof adopted by the present invention are now given as preferred embodiments, and are described as follows in conjunction with the accompanying drawings.

[0031] Please also see figure 1 and figure 2 , figure 1 It is the control schematic diagram of the robot arm of the present invention, figure 2 It is a schematic diagram of the rotational power of the robotic arm of the present invention. The movement of the robot arm 20 of the present invention is mainly controlled by the control device 30 . Wherein the robot arm 20 is provided with a first actuating shaft K on the base 21 to rotate the first arm 22, a second actuating shaft L is provided on the first arm 22 to rotate the second arm 23, and a third arm 22 is provided on the second arm 22. The actuation shaft M turns the end portion 24 . Although the present embodiment is illustrated with a three-axis robot arm, the present i...

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Abstract

The invention discloses a control device and method for a machine arm. The machine arm is instructed in a working path, and the total power limit of all actuating shafts are set. When the instructed working path is put into trial implementation, rotation power of all the actuating shafts is recorded, and cumulative total power of all the actuating shafts is calculated on time. When the condition that the cumulative total power exceeds the total power limit is examined, the rotation power of all the actuating shafts is lowered to make the cumulative total power be not larger than the total power limit, and thus instruction working is accelerated.

Description

technical field [0001] The invention relates to a robot arm, in particular to a control device and method for preventing the robot arm from exceeding the moving speed limit in the teaching operation path of the robot arm. Background technique [0002] Although the robot arm has the characteristics of flexible and fast movement, the inertia generated by moving beyond the speed limit not only makes the robot arm unable to position accurately, but also destroys the structure of the robot arm itself, especially the fast-moving robot arm, which can also damage or threaten the surrounding area. safety of staff. [0003] like Figure 4 Shown, is the robot arm 1 of prior art. The robotic arm 1 of the prior art is on the base 2, the first actuating shaft 3 is set to drive the first arm 4, the second actuating shaft 5 is set on the first arm 4 to drive the second arm 6, and on the second arm The drive end 8 of the third actuating shaft 7 is arranged on the 6. The robotic arm 1 cont...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 苏怡宾吴仁琛
Owner TECHMAN ROBOT INC
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