KR101987823B1 - Dual Arm Robot System - Google Patents

Abstract

The present invention relates to a two-arm robot system, in which a first robot arm moves for calculation of coordinate values for a plurality of coupling parts using a vision camera and a sensor, and the second robot arm moves the assembly parts The first robot arm and the second robot arm separate and move from each other so that the operation efficiency can be further improved. Further, according to the divided work method, more accurate and quick And the assembling parts are coupled to the respective engaging parts through the second robot arm and simultaneously the inserting condition of each assembling part is immediately inspected by using the vision camera of the second robot arm, The state can be quickly inspected without a separate inspection process, and in the process of inserting the assembly part into the coupling part, The robot arm can be accurately operated by accurately adjusting the operation state of the robot arm based on the operation error of the robot arm, thereby enabling a more accurate assembly operation. to provide.

Description

Dual Arm Robot System}

The present invention relates to a two-arm robot system. More specifically, the first robot arm moves for calculation of coordinate values for a plurality of coupling parts using a vision camera and a sensor, and the second robot arm moves the assembly parts to the coupling parts by inserting the assembly parts into the coupling parts according to the calculated coordinate values. The first robot arm and the second robot arm separate and move different tasks from each other, so that the work efficiency can be further improved, and more accurate and quick work can be performed according to the divided work methods, The assembling parts are coupled to the respective engaging parts via the two robot arms and simultaneously the inserting condition of each assembling part is immediately inspected by using the vision camera of the second robot arm, And by detecting the repulsive force transmitted to the gripper in the process of inserting the assembly part into the coupling part The present invention relates to a two-arm robot system capable of accurately calculating an operation error of a robot arm and fine-adjusting an operation state of the robot arm based on the operation error, thereby accurately inserting an assembly part into a coupling part.

Since the first industrial robots were developed, industrial robots were at the center of industrial automation, and modern industrialization is largely due to mass production through automation equipment.

Industrial robots still play a very important role in the manufacturing industry and their importance is expected to grow. Today's industrial robots have made a lot of improvements in precision, stiffness and durability compared to the past. However, there has been no major change in terms of its appearance, and robots with one arm are still used in most workplaces. Traditional single-arm robots with one arm are difficult to apply to workplaces where the worker is working with two hands, and this is clearly one of the main reasons for limiting the range of applications for industrial robots.

In order to assemble electronic products and mechanical parts, a robot system with both arms is very effective. For this reason, development robots with both arms are being developed centering on overseas advanced companies. At present, there are only a handful of two-arm robot systems commercialized. In terms of functionality, only simple forms of work are possible.

Particularly, in the assembling work of the mechanical parts, since the operation of gripping the separate assembled parts and inserting and connecting the assembled parts to the assembled parts of the assembled objects are repeated a great number of times, There is an active demand for a system capable of performing both assembling work and inspection work by an operation similar to a human by applying a two-arm robot.

Korean Patent No. 10-1502152

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art, and it is an object of the present invention to provide a robot control apparatus and a robot control method, in which a first robot arm moves for calculation of coordinate values for a plurality of coupling parts using a vision camera and a sensor, The first robot arm and the second robot arm separate and move different operations from each other by moving the assembled parts to be inserted into the engaging portions according to the calculated coordinate values, And to provide a two-arm robot system capable of performing more accurate and quick work according to the divided work methods.

It is a further object of the present invention to provide a method and apparatus for assembling components that are coupled to an assembly unit through a second robot arm while simultaneously inspecting the state of insertion of each assembly component using a vision camera of the second robot arm, The present invention provides a two-arm robot system capable of quickly inspecting a coupled state without a separate inspection process, and thereby performing a more accurate and quick assembly process.

Yet another object of the present invention is to provide a robot arm which can calculate an operation error of a robot arm by sensing a repulsive force transmitted to a gripper in the process of inserting and coupling an assembly part into a coupling part, The present invention provides a two-arm robot system capable of precisely inserting an assembly part into a coupling part, thereby enabling more accurate assembling work.

The present invention relates to a two-arm robot system which operates to insert and assemble an assembly part into a plurality of engaging parts formed on an object to be assembled by using a first robot arm and a second robot arm, A first vision camera for photographing the coupling portion as a whole; A distance sensor mounted on the first robot arm and measuring a distance between the plurality of coupling parts; A controller for controlling operation of the first robot arm such that the first vision camera and the distance detection sensor move on the same horizontal plane spaced upward in the assembly direction; And a control unit for calculating an XY coordinate value for the coupling unit on the reference plane based on the image information photographed by the first vision camera, Wherein the control unit receives the coordinate value of the coupling unit calculated by the calculation unit and moves the second robot arm according to the applied coordinate value to calculate the Z- And the second robot arm is mounted with a repulsive force sensing means for sensing a repulsive force generated in the process of inserting the assembled component into the coupling portion, Calculates an operation error of the second robot arm based on the repulsive force sensed by the repulsive force sensing means, Wherein the second robot arm adjusts the operation state of the second robot arm based on the operation error calculated by the operation unit.

At this time, the first robot arm moves according to the XY coordinate values of the plurality of engagement portions, and the control unit sequentially measures the vertical distance of the engagement portion in a state where the distance detection sensor is positioned vertically above each engagement portion The operation can be controlled.

The control unit may control the plurality of coupling units to sequentially insert the assembly parts into the plurality of coupling units according to the order in which the vertical distance is measured by the distance sensor, It is possible to perform an operation control so that the assembling component inserting operation of the second robot arm is performed before the movement of the first robot arm for measuring the vertical distance of the plurality of engaging portions is completed.

The calculation unit may calculate a first movement path of the first robot arm for measuring the vertical distance of each coupling unit on the basis of the XY coordinate values of the plurality of coupling units, The robot arm according to any one of claims 1 to 3, wherein the first movement path is calculated by the first movement path and the second movement path, Can be calculated.

Further, the repulsive force sensing means may include a pressure sensor mounted on a gripper of the second robot arm configured to grip the assembled part, wherein the pressure sensor includes a plurality of Can be mounted.

The operation unit may calculate an operation error of the second robot arm by using a difference between the measured values measured by the plurality of pressure sensors.

Further, the second robot arm may be equipped with a second vision camera capable of photographing the coupling portion, and the second vision camera may be configured to move the second robot arm to the second robot arm, And can be controlled by the control section to photograph the coupling section.

The two-arm robot system may further include a test determination unit for comparing the image information photographed by the second vision camera with other reference image information to determine whether the assembled parts are normally coupled.

According to the present invention, the first robot arm moves for calculation of coordinate values for a plurality of coupling parts using a vision camera and a sensor, and the second robot arm moves the assembly parts into respective coupling parts according to the calculated coordinate values. So that the first robot arm and the second robot arm separate and move different tasks from each other, so that the work efficiency can be further improved and more accurate and quick work can be performed according to the divided work methods .

Further, the assembled parts are coupled to the respective engaging parts through the second robot arm, and the inserting condition of each assembled part is immediately inspected by using the vision camera of the second robot arm, It is possible to carry out the assembly process more accurately and quickly.

Further, by detecting the repulsive force transmitted to the gripper in the process of inserting the assembled part into the engaging part, the operation error of the robot arm can be calculated, and the operation state of the robot arm can be fine- So that it is possible to perform a more accurate assembling operation.

FIG. 1 is a schematic view of the outline of a two-arm robot system according to an embodiment of the present invention,
FIG. 2 is a view schematically showing an operation state of a first robot arm of a two-arm robot system according to an embodiment of the present invention,
FIG. 3 is a schematic view illustrating movement paths of the first and second robot arms of the two-arm robot system according to the embodiment of the present invention,
FIG. 4 is a schematic view of an operation state of a second robot arm of a two-arm robot system according to an embodiment of the present invention; FIG.
5 is a functional block diagram functionally illustrating a configuration of a two-arm robot system according to an embodiment of the present invention.
FIG. 6 is a schematic view showing the configuration of the repulsive force sensing means of the second robot arm according to the embodiment of the present invention; FIG.
7 is a view for explaining the operation principle of the repulsive force sensing means of the second robot arm according to the embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 1 is a view schematically showing the outline of a two-arm robot system according to an embodiment of the present invention. FIG. 2 schematically shows an operation state of a first robot arm of a two-arm robot system according to an embodiment of the present invention. FIG. 3 is a schematic view showing a movement path for the first and second robot arms of the two-arm robot system according to the embodiment of the present invention, and FIG. 4 is a view FIG. 5 is a functional block diagram functionally showing a configuration of a two-arm robot system according to an embodiment of the present invention. FIG. 5 is a functional block diagram illustrating a configuration of a two-arm robot system according to an embodiment of the present invention.

The two-arm robot system 10 according to an embodiment of the present invention is configured such that the first robot arm 110 and the second robot arm 120 are mounted on the robot body 100 in a multi-jointed manner to be freely movable, The first robot arm 110 and the second robot arm 120 operate to insert and assemble the assembled parts M into the plurality of engaging portions P formed on the object PM. Grippers 130 may be formed at the end portions of the first robot arm 110 and the second robot arm 120 so as to grasp assembled parts and the like.

The two-arm robot system 10 includes a first vision camera 200 and a distance detection sensor 300 mounted on the first robot arm 110 and a controller 200 for controlling operations of the first and second robot arms 110 and 120. [ (X, Y and Z coordinates) for the joint part P, and a calculation part 600 for calculating three-dimensional coordinates (X, Y, Z coordinates)

The first vision camera 200 is mounted on the first robot arm 110 to capture a plurality of engagement portions P as a whole and the distance sensor 300 is mounted on the first robot arm 110, And the distance to the portion P is measured.

2, the first robot arm 110 includes a first vision camera 200 and a distance sensor 300. The first vision robot 200 and the distance sensor 300 are disposed on the same horizontal plane XY And is controlled by the control unit 500 to move in a plane.

That is, the first robot arm 110 moves on the XY plane, which is the same horizontal plane, so that the heights of the first vision camera 200 and the distance detection sensor 300 are always kept constant.

The first vision camera 200 simultaneously captures a plurality of engagement portions P of the assembly object PM and the operation unit 600 displays an image based on the image information photographed by the first vision camera 200, The XY coordinate value for the coupling portion P is calculated. That is, since the photographing image information is image information photographed in two dimensions, it is compared with the reference image information of the first vision camera 200, so that a plurality of joining parts P The XY coordinate value in the reference plane is calculated.

To this end, the distance sensor 300 mounted on the end of the first robot arm 110 detects the vertical distance between the engaging part P and the engaging part P by using the distance detecting sensor 300, In the vertical direction.

Accordingly, the controller 500 moves the first robot arm 110 according to the XY coordinate value calculated by the calculation unit 600, thereby positioning the distance sensor 300 in the vertically upper portion of each engaging portion P. The vertical distance between the coupling portion P and the distance detection sensor 300 is measured by the distance detection sensor 300 in a state where the distance detection sensor 300 is located vertically above the coupling portion P. [

When the vertical distance to the coupling portion P is measured in this manner, the operation unit 600 can calculate the Z-axis coordinate value which is a vertical distance from the reference plane.

The calculation unit 600 calculates the number of the combining units P based on the photographed image information by the first vision camera 200, The control unit 500 receives the XY coordinate value of the joint unit P calculated by the operation unit 600 and outputs the XY coordinate value of the joint unit P corresponding to the XY coordinate value of the joint unit P 1 robot arm 110 is moved. At this time, the first robot arm 110 is moved so that the distance sensor 300 mounted at the end of the first robot arm 110 is vertically positioned above each engaging portion P. After the first robot arm 110 is moved as described above, the vertical distance to the coupling portion P is measured by the distance sensor 300 for each coupling portion P. The operation unit 600 receives the vertical distance measurement value for each coupling unit P and calculates a Z coordinate value for each coupling unit P.

In this manner, the XYZ coordinate values for each engagement portion P of the assembly object PM can be calculated.

The control unit 500 receives the XYZ coordinate values of each coupling unit P calculated as described above from the operation unit 600 and moves the second robot arm 120 according to the applied coordinate values And controls operation of the second robot arm 120 so that the component M is inserted into and engaged with each engaging portion P. [

That is, in the two-arm robot system 10 according to the embodiment of the present invention, the first robot arm 110 is moved to calculate XYZ coordinate values for a plurality of coupling parts P of the assembly object PM , And moves the second robot arm 120 according to the calculated X, Y, and Z coordinate values to operate to insert and assemble the assembly part M into the engagement parts P. [

The first robot arm 110 is moved for calculation of coordinate values using the first vision camera 200 and the distance sensor 300 and the second robot arm 120 is moved substantially to the assembly component M, So that the first robot arm 110 and the second robot arm 120 perform separate tasks, respectively, thereby further improving work efficiency.

Particularly when the first robot arm 110 is moved and the coordinate values for the respective coupling portions P are sequentially calculated, the second robot arm 120 moves the assembly M to the coupling portion P in the same order, So that the assembly operation can be performed more quickly.

For this purpose, the control unit 500 determines whether or not the second robot arm 120 is sequentially moved in accordance with the order in which the vertical distance is measured by the distance detection sensor 300 of the first robot arm 110 with respect to the plurality of engagement portions P It is possible to perform an operation control for inserting and coupling the assembled part M into the plurality of engaging parts P by using a plurality of engaging parts P and before the movement of the first robot arm 110 for measuring the vertical distance of the plurality of engaging parts P is completed The operation of controlling the operation of inserting the parts of the second robot arm 120 is performed.

In addition, when the first robot arm 110 and the second robot arm 120 move at the same time, interference may occur during the movement of the first robot arm 110 and the second robot arm 120, so that normal operation may be difficult. It is possible to calculate a first movement path that is the movement path of the first robot arm 110. At this time, the first robot can perform the interference by considering the movement path of the second robot arm 120 following the first movement path at a predetermined time interval It is possible to calculate the first movement route.

That is, the calculation unit 600 calculates the first movement path of the first robot arm 110 for measuring the vertical distance of each coupling unit P based on the XY coordinate values of the plurality of coupling units P, The controller 500 controls the movement of the first robot arm 110 along the first movement route calculated by the operation unit 600. [ At this time, the calculation unit 600 calculates the second movement path of the second robot arm 120 for assembling component insertion operation (the second movement path is the same as the first movement path, And the first movement path is calculated so as not to cause interference.

For example, as shown in FIG. 3, when there are five coupling portions P1, P2, P3, P4, and P5 in the assembly target PM, the first robot arm 110 is moved to P1, P2, P3 The first robot arm 110 and the second robot arm 120 can calculate the first movement path so that the first robot arm 110 and the second robot arm 120 move in the order of P3, P4 and P5. In this case, Interference does not occur even when moving at the same time interval. If the first movement path is calculated to move in the order of, for example, P1, P5, P4, P2, and P3, the second robot arm 120 sequentially moves along the movement path, Interference occurs during movement of the first robot arm 110 and the second robot arm 120.

3, in a state in which the distance sensor 300 of the first robot arm 110 moves from the P1 coupling portion and is located at the P2 coupling portion, the end gripper 120 of the second robot arm 120 The first robot arm 110 and the second robot arm 120 may sequentially move in the order of P1, P2, P3, P4 and P5, Does not occur.

A second vision camera 400 is mounted on the second robot arm 120 to capture a coupling portion P of the assembly object PM and a second vision camera 400 is mounted on the second robot arm 120 Can be operated and controlled by the control unit 500 so as to photograph the engaging part P every time the assembling part M is inserted and coupled to each engaging part P. [ Unlike the first vision camera 200, the second vision camera 400 photographs not only the plurality of coupling portions P as a whole, but only the portions of the coupling portions P locally.

That is, the second robot arm 120 sequentially moves the engaging portions P in a state of holding the assembled parts M in the gripper 130 to move the assembled parts M to the engaging portions 4 (a), after the assembly M is vertically moved down and inserted into the corresponding engaging portion P, the assembled part M is inserted into the engaging portion P, The second vision camera 400 is used to photograph the corresponding engagement portion P in which the assembly M has been inserted.

In this manner, a separate test determination unit 700 is further provided to compare the image information photographed by the second vision camera 400 with other reference image information to determine whether the assembly M is normally coupled .

The inspection judging unit 700 compares the image information photographed by the second vision camera 400 with the previously stored separate reference image information by a pattern analysis method or the like to determine a combination position of the assembly M, It is possible to judge whether or not the type of the image data is correct.

If it is determined that the assembly position of the assembly M is wrong or the type is different by the inspection and determination unit 700, the control unit 500 can warn the user by operating a separate alarm device (not shown) or the like.

According to this structure, the assembled part M can be coupled to the engaging part P through the second robot arm 120 and the inserted state of each assembled part M can be checked immediately, Assembly work can be performed quickly.

FIG. 6 is a view schematically showing the configuration of the repulsive force sensing means of the second robot arm according to the embodiment of the present invention. FIG. 7 is a schematic view of the repulsive force sensing means of the second robot arm according to the embodiment of the present invention. Fig. 7 is a view for explaining the operation principle of the second embodiment.

The second robot arm 120 inserts the assembly M into the coupling portion P and immediately checks the state of the insertion using the second vision camera 400 as described above.

6, in the process of inserting the assembly part M into the coupling part P by using the second robot arm 120, the second robot arm 120 is inserted into the coupling part P, So as to adjust the operation state of the second robot arm 120.

To this end, the second robot arm 120 is mounted with a repulsive force sensing means 800 for sensing the repulsive force generated in the process of inserting the assembly M into the engagement portion P.

The operation unit 600 calculates an operation error of the second robot arm 120 based on the repulsive force sensed by the repulsive force sensing means 800. The control unit 500 calculates an operation error calculated by the operation unit 600 Thereby adjusting the operation state of the second robot arm 120.

The repulsive force sensing means 800 includes a pressure sensor 810 mounted on the gripper 130 of the second robot arm 120 which is configured to grip the assembly M as shown in FIG. At this time, a plurality of pressure sensors 810 are mounted on the inner surface of the gripper 130, which is in pressure contact with the assembly M,

The pressure sensor 810 may be mounted on the inner side of the gripper 130 in various forms depending on the shape of the gripper 130 and the assembly M, for example, the gripper 130 ) On the upper and lower sides of the inner side of the inner side. Of course, when the gripper 130 is cylindrical, a plurality of the gripper 130 may be mounted in two rows along the circumferential direction.

7 (a), the assembled part M gripped by the gripper 130 is accurately positioned on the engaging part P of the object PM to be assembled, as shown in FIG. 7 (a) 7 and inserted into the engaging part P in a state of being displaced to the left with reference to the direction shown in Fig. 7, the interference part between the assembling part M and the engaging part P of the assembling object PM A repulsive force is generated in a clockwise direction. Therefore, the measurement values of the plurality of pressure sensors 810 mounted on the inner surface of the gripper 130 are different from each other due to the repulsive force. In the case of FIG. 7A, the measured values of the pressure sensors of reference numerals 812 and 813 are relatively increased and the measured values of the pressure sensors of reference numerals 811 and 814 are relatively decreased by the repulsive force in the clockwise direction.

7 (b), a counter-clockwise repulsive force is generated centering on the interference part of the assembly part M and the engaging part P, so that the measured value of the pressure sensor of reference numeral 811, And the measured value of the pressure sensor of reference numeral 812,813 is relatively decreased.

At this time, as the degree of deviation between the assembly part M and the engaging part P increases, the repulsive force in the clockwise or counterclockwise direction decreases relatively, so that the difference in the measured value of each pressure sensor is relatively reduced.

Accordingly, the calculation unit 600 can determine the direction in which the assembly M is inserted incorrectly and the distance to which the assembly M is erroneously misaligned, using the difference in the measured values of the pressure sensor 810. That is, the operation unit 600 can calculate the operation error of the second robot arm 120 to the direction and the distance using the difference of the measured values of the plurality of pressure sensors 810. The control unit 500 can fine-tune the operation state of the second robot arm 120 by receiving the operation error value thus calculated.

The two-arm robot system according to an embodiment of the present invention can calculate an assembling component coupling operation error of the second robot arm 120 in such a manner that the repulsive force is sensed, The assembled part M can be accurately inserted into the engaging part P by finely adjusting the operating state.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: robot body
110: first robot arm 120: second robot arm
130: gripper
200: First vision camera
300: Distance detection sensor
400: Second vision camera
500:
600:
700:
800: repulsive force sensing means
810: Pressure sensor
PM: object to be assembled
P: Coupling part M: Assembly part

Claims (8)

delete delete delete A two-arm robot system which operates to insert and assemble an assembly part into a plurality of engaging parts formed on an object to be assembled by using a first robot arm and a second robot arm,
A first vision camera mounted on the first robot arm for photographing a plurality of the coupling parts as a whole;
A distance sensor mounted on the first robot arm and measuring a distance between the plurality of coupling parts;
A controller for controlling operation of the first robot arm such that the first vision camera and the distance detection sensor move on the same horizontal plane spaced upward in the assembly direction; And
Calculating an XY coordinate value for the coupling unit on the reference plane based on the image information photographed by the first vision camera, calculating an XY coordinate value for the coupling unit from the reference plane for the coupling unit based on the distance measured through the distance sensor A Z coordinate value
Wherein the control unit receives the coordinate value of the coupling unit calculated by the calculation unit and moves the second robot arm according to the applied coordinate value to insert the assembly part into the coupling unit, The operation of the robot arm is controlled,
Wherein the second robot arm is mounted with a repulsive force sensing means for sensing a repulsive force generated in the process of inserting the assembled component into the coupling portion,
Wherein the operation unit calculates an operation error of the second robot arm on the basis of the repulsive force sensed by the repulsive force sensing unit, and the control unit controls the operation state of the second robot arm based on the operation error calculated by the operation unit Adjust,
Wherein the first robot arm moves according to XY coordinate values of the plurality of coupling portions to sequentially measure the vertical distance of the coupling portion in a state where the distance sensing sensor is positioned vertically above each coupling portion, And,
Wherein the control unit controls the plurality of coupling units to sequentially insert the assembly parts into the plurality of coupling units according to the order in which the vertical distance is measured by the distance sensor, Wherein the operation of controlling the operation of inserting the assembly parts of the second robot arm is performed before the movement of the first robot arm for measuring the vertical distance of the coupling part is completed,
Wherein the calculation unit calculates a first movement path of the first robot arm for measuring the vertical distance of each coupling unit based on XY coordinate values of the plurality of coupling units, Controlling the movement of the arm,
Wherein the arithmetic unit calculates the first movement path so that interference does not occur as compared with a second movement path of the second robot arm for assembling component insertion operation in the first movement path calculation, .
5. The method of claim 4,
The repulsive force sensing means
And a pressure sensor mounted on a gripper of the second robot arm formed to grip the assembly part,
Wherein a plurality of pressure sensors are mounted on inner surfaces of the gripper which are in press contact with the assembly parts.
6. The method of claim 5,
Wherein the operation unit calculates an operation error of the second robot arm by using a difference between the measured values measured by the plurality of pressure sensors.
6. The method of claim 5,
The second robot arm is equipped with a second vision camera capable of photographing the coupling portion,
Wherein the second vision camera is operated and controlled by the control unit to photograph the coupling unit every time the second robot arm completes insertion and coupling of the assembly parts to the respective coupling units.
8. The method of claim 7,
Further comprising a test determination unit for comparing the image information photographed by the second vision camera with another reference image information to determine whether the assembled parts are normally coupled.

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