KR101206241B1 - Apparatus and method of pivot management for robot - Google Patents

Abstract

Disclosed are an axis management apparatus and method for a robot. The axis management apparatus and method of the robot according to an embodiment of the present invention in the axis management method of the robot equipped with a laser vision sensor, when the initialization is performed according to the power-on of the base specific line to the laser vision sensor in the warm-up process of the robot Scanning an image; Determining whether an axis error is generated by comparing the scanned base specific line image with the precision origin image; When the occurrence of the axis error is detected, it includes the step of indicating information about it.

Description

Axis management device and method for robots {APPARATUS AND METHOD OF PIVOT MANAGEMENT FOR ROBOT}

The present invention relates to an axis management apparatus and method for an industrial robot.

The robot consists of a number of links and joints connecting each link to move within a preset work range and perform welding or assembly, and is widely used as a means of improving productivity and precision work according to industrial automation.

In order for the robot to perform assigned tasks such as welding or assembly, the tool tip (TCP) must be moved from the working position.

At this time, the movement of the joint and rotation axis of the robot is made by an electrical device or a hydraulic device such as a motor, the operation of such a device in order to move the tool tip (TCP) in the intended working position by the operation of the operator, the length of each link, In addition to the dimensions for the deflection, the actual angle of rotation of each joint is very important.

In the control of the robot, errors occur between the user's intended work position and the position where the tool tip (TCP) is moved. These errors are caused by geometric error, dynamic error for each link during motion control, and weight. It is caused by various factors such as deflection of structure, back lash caused by mechanical structure, compliance of joints, axis distortion due to collision with surrounding structures during movement, and loss of encoder value.

When these errors accumulate, the position between the target member and the tool tip (TCP) is deformed in opposition to the work order during assembly or welding, which adversely affects the quality.

Therefore, by looking at the relationship between the link position and orientation error of the robot and the mechanical characteristics of the robot, it detects the error of the kinematic parameters, and finds a functional relationship between the variables of the orientation and the link position to correct the link position error. ) Is being applied to the control program.

The calibration of the robot involves kinematic calibration based on link parameters and non-kinetic parameters such as joint inertia, link stiffness, assembly tolerances, back lash, coupling error, and frictional force, depending on the model used. It can be considered by dividing by.

The kinematic calibration method uses a measuring tool (jig), and separate measurement tools must be mechanically connected to measure the error, which causes trouble in measuring the error and causes many limitations in the field application.

In addition, the non-kinetic calibration method does not provide a concrete solution.

An embodiment of the present invention is to determine the axis error when the power is supplied for the operation of the robot and the initialization is performed, by instructing the operator (manager / worker), the axis management apparatus of the robot that can be quickly followed up To provide a method.

According to an aspect of the invention, the operation unit including a power on / off key, a work command setting key, a job execution execution key of the robot; An image processor configured to process an image input from a laser vision sensor mounted to the robot; A driving unit configured to execute joint and axis driving of the robot under control of a controller; It is initialized according to the power-on and executes warm up by operating each joint and rotation axis of the robot through the driving unit, and controls the laser vision sensor during the warm up process, scans the image of the designated line, and then precise reference image as the reference data. A controller for determining an axis error occurrence in comparison with the control unit; And it may be provided with the axis management apparatus of the robot including a display unit for expressing whether the error of the axis under the control of the controller.

The controller determines whether an axis error is generated by further referring to the learned home image, and the learned home image scans a designated line by the laser vision sensor when the work or processing quality of the robot is greater than or equal to a specified pass line. It may be a generated video.

According to the present invention, the control unit may further include a memory for storing a calibration result of a job control command input from the manipulation unit and a learned axis error.

The control unit scans the scanned image in any one or more directions of the horizontal direction in the lower or upper side of the base front on the X axis, the left or right side of the base front on the Y axis, and the diagonal direction of the base front on the Z axis from the laser vision sensor. You can take input and analyze it.

According to another aspect of the present invention, in the axis management method of a robot equipped with a laser vision sensor, the process of scanning the image of the base specific line with the laser vision sensor in the warm-up process of the robot when the initialization according to the power-on; Determining whether an axis error is generated by comparing the scanned base specific line image with the precision origin image; When an axis error is detected, an axis management method of the robot including a process of indicating information about the same may be provided.

In the process of determining whether the axis error is generated, the generation of the axis error is determined by further referring to the learned origin image, wherein the learned origin image is equal to or greater than a specified passing line for the work or processing quality of the robot. An image generated by the laser vision sensor scanning the specific line may be applied.

Embodiments of the present invention can accurately determine the axis error of the robot, and instruct the operator (manager / worker) to provide a quick follow-up, it is possible to provide safety and reliability in the operation of the robot.

In addition, the axis error is corrected in the warm-up process of the robot so that the designated work is executed, thereby providing precision to the work.

In addition, by determining the axis error and learning the result before the robot starts work, it is possible to provide reliability to the axis error management of the robot.

1 is a view schematically showing an axis management apparatus of a robot according to an embodiment of the present invention.
Figure 2 is a flow chart for the origin setting of the robot according to an embodiment of the present invention.
3 is a flow chart for executing the axis management procedure of the robot according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail as follows.

1 is a view schematically showing an axis management apparatus of a robot according to an embodiment of the present invention.

Embodiment according to the present invention is an invention for managing the axis error of the robot, the operation control, such as assembly or welding using the robot is carried out the same or similar to the conventional robot control, a detailed description thereof will be omitted.

Referring to FIG. 1, the present embodiment controls a robot 10 having six axes and a movement of the robot 10, and when an initialization by power supply is executed, a control device for analyzing whether an axis error has occurred and indicating a result thereof ( 100).

The robot 10 has a footrest 12 attached to and fixed to the base 11, the base stand 13 is supported by the footrest 12, and the first joint 14 is placed on the upper part of the base stand 13. One end of the first arm 15 is connected through.

One end of the second arm 17 is connected to the other end of the first arm 15 through the second joint 16, and the third joint 18 is connected to the other end of the second arm 17. The robot hand 19 is connected to the robot hand 19.

The robot hand 19 includes a tool attaching part, and a tool attaching part 20 is coupled to the tool attaching part, and a laser vision sensor 21 is installed at the end of the tool 20.

The laser vision sensor 21 scans a specific line and generates an image of the work line in order to determine whether the work quality and the execution of the work are abnormal.

In addition, the laser vision sensor 21 is supplied with power for the operation of the robot 10 in the off state, and the initialization is executed, and it is possible to determine whether an axis error has occurred in the process of warming up each joint and the rotating shaft. An image of a specific line of the base 11 is input.

The specific line of the base 11 is the horizontal direction of the lower side or the upper side of the base 11 front side which is the X axis, and the vertical direction of the left side or the right side of the base 11 front side which is the Y axis, and the diagonal direction of the base 11 front side of the Z axis. It may be set to include any one or more than one.

The particular line may be in the form of a configuration other than the base or the specific line indicated.

For the precise measurement of axis error, the method of measuring both X, Y, and Z axes can improve the most accuracy.

The horizontal image input to the base 11 specific line of the laser vision sensor 21 may be set to one of a movement from left to right or a movement from right to left.

In addition, the vertical image input for the specific line of the base 11 may be set to one of a movement from an upper side to a lower side and a movement from a lower side to an upper side.

In addition, the diagonal image input for the specific line of the base 11 is diagonally shifted from the lower left to the upper right, shifted from the upper right to the lower left, diagonally shifted from the lower right to the upper left, and from the upper left to the right. It can be set to any one of the diagonal movement in the lower direction.

The robot 10 has a first rotary shaft R1 according to the rotation of the base stand 13, a second rotary shaft R2 for executing the vertical rotation of the first arm 15 by the movement of the first joint 14, The third rotary shaft R3 which executes the vertical rotation of the second arm 17 by the movement of the second joint 16, the fourth rotary shaft R4 which executes the rotation of the second arm 17, and the third joint ( 18, a fifth rotating shaft R5 for adjusting the working angle of the robot hand 19 by the movement of the robot hand 19, and a sixth rotating shaft R6 for rotating the tool 20 through the rotation of the robot hand 19.

Accordingly, the end TCP of the tool 20 coupled to the robot hand 19 is positioned at the first to third axes R1 to R3 and the fourth to sixth axes R4 to R6. It is decided by the posture decided.

In addition, the control device 100 includes an operation unit 101, a control unit 102, a memory unit 103, a display unit 104, a driving unit 105, and an image processing unit 106.

The operation unit 101 is a power key for selecting the power on / off of the robot 10, an emergency key for executing an emergency stop of the robot 10 in an emergency, coordinate setting for setting a work command of the robot 10 Various function keys are provided including a key, an execution key for commanding execution of a job, a coordinate correction key, and the like.

The control unit 102 executes initialization when a command for supplying power to the robot 10 in a stationary state is detected by the operation unit 101, and then operates each joint and the rotating shaft of the robot 10 through the driving unit 105. To perform a warm-up, scan a specific line of the base 11 with a laser vision sensor 21 in the warm-up process, extract an image, and then compare it with the initial precision origin image and the learned origin image stored in the memory unit 103. Determine if an axis error occurred.

Here, the learned origin image may be a scan image when the robot's work / processing quality exceeds a specified pass line even if an axis error occurs to some extent in the robot.

When the work / processing quality of the robot exceeds a specified pass line, the user may set the corresponding scan image as the learned origin image, and the learned origin image may be stored in the memory unit 103.

If it is determined that an axis error has occurred, the controller 10 instructs the operator of the robot 10 (manager / worker) through the display unit 104. When calibration of the axis error is performed, the value is learned and stored in the memory unit 103. do.

The memory unit 103 stores a job control command input from the operation unit 101 and stores a calibration result of the learned axis error.

The display unit 104 displays the determination result of the axis error monitored under the control of the control unit 102 in a predetermined format.

The driving unit 105 performs warm up by driving each joint and the rotating shaft of the robot 10 in the stationary state according to the initialization command according to the power supply applied from the control unit 102.

In addition, the driving unit 105 may drive the joint and the rotating shaft so that the laser vision sensor 21 installed at the tool tip TCP during the warm up process scans a predetermined line of the base 11 and inputs an image. Can be.

The direction in which the laser vision sensor 21 scans may vary. For example, the driving unit 105 may have the laser vision sensor 21 in the horizontal direction and the Y axis below or in front of the base 11 in the X axis. In the vertical direction of the left or right side of the front of the base 11, the scan image may be input by moving in one or more directions of the diagonal direction of the front of the base 11, which is the Z axis.

The driver 105 may move the laser vision sensor 21 from the left to the right direction or the right to the left direction with respect to the horizontal direction of the base 11 so that the scan image may be input.

In addition, the driving unit 105 moves the laser vision sensor 21 from the upper side to the lower direction or the lower side to the upper direction with respect to the longitudinal direction of the base 11 so that the scanned image can be input.

In addition, the driving unit 105 makes the laser vision sensor 21 with respect to the diagonal direction of the base 11 from the lower left to the upper right, the upper right to the lower left, the lower right to the upper left, and the upper left to the lower right. The scan image may be input by moving to any one or more of the above.

The image processor 106 processes the scanned image of the base 11 specific line input from the laser vision sensor 21 in a predetermined format.

Referring to the specific operation according to an embodiment of the present invention that includes the above-described function is as follows.

Figure 2 is a flow chart for the origin setting of the robot according to an embodiment of the present invention.

Referring to FIG. 2, when the robot 10 is installed in the workshop for precise assembly or welding operation (S101), precision origin correction for the driving of each joint and the rotating shaft of the robot 10 is performed (S102).

Then, a specific line of the base 11 is scanned with the laser vision sensor 21 mounted at the tool tip TCP to extract an image (S103), and a reference line of upper and lower limits is set on the extracted image, and this is Set as the reference image of the first origin (S104)

The specific line image extraction of the base 11 by the laser vision sensor 21 is performed in the horizontal direction of the lower side or the upper side of the base 11 front face which is the X axis, and in the vertical direction of the left side or right side of the front face of the base 11 which is the Y axis. , Z-axis extracts an image including any one or more of the diagonal direction of the base 11 front.

3 is a flow chart for executing the axis management procedure of the robot according to an embodiment of the present invention.

Referring to FIG. 3, in a state in which the operation of the robot 10 is turned off and the operation is stopped (S201), the controller 102 determines whether a power-on command is input from the operation unit 101. (S202).

If the power-on command is not input in step S202, the robot 10 continuously maintains a standby state of power-off, and when the power-on command is input, the controller 102 executes initialization and then stops through the driving unit 105. Each joint and the rotation axis of the robot 10 in the drive a warm up (S203).

As described above, the laser vision sensor 21 installed at the tool tip TCP in order to drive each joint and the rotation axis of the robot 10 scans a specific line of the base 11 and inputs an image ( S204).

The image of a specific line of the base 10 input by the scan of the laser vision sensor 21 is a horizontal direction of the lower side or the upper side of the base 11 front face which is the X axis, and the left or the right side of the front face of the base 11 which is the Y axis. Direction, which includes one or more scanned images in a diagonal direction in front of the base 11 which is the Z axis.

The scanned image input from the laser vision sensor 21 is applied to the image processor 106, processed in a predetermined format, and then applied to the controller 102.

At this time, the control unit 102 extracts the scanned image of the base 11 specific line input from the image processing unit 106 and compares it with the initial precision origin image and the learned origin image which are reference data stored in the memory unit 103 ( S205) It is determined whether the scan input image is included in the upper / lower limit reference value range (S206).

If the scan input image is included in the reference value range of the upper and lower limits in S206, it is determined that the axis state of the robot 10 maintains a normal state.

Then, the robot 10 is operated through the driving unit 105 in accordance with the designated work command input from the operation unit 101 to execute work such as assembly or welding (S207).

The work command may be provided through various known methods such as wired / wireless communication and short-range communication.

In the process of executing the work according to the specified command by the robot 10, the laser vision sensor 21 installed at the tool tip TCP receives an image by tracking a work line and then controls the control unit 102 through the image processor 106. ) Is applied.

Therefore, the controller 102 analyzes the work state from the input image of the work line (S208) and determines whether an abnormality has occurred in the work (S209).

If no abnormality is detected in the work state in step S209, the operation is continuously executed until the end of the currently executed work. If it is determined that there is an abnormality in the work state, the upper / lower limit adjustment and the axis calibration are performed to compensate for the work error. The process returns to step S207 (S210).

However, if the scan input image is not included in the reference value range of the upper and lower limits in S206, it is determined that a fatal axis error has occurred (S211), and the robot 10 operator (manager / operator) requests an axis correction through the display unit 104. ) And when the calibration of the axis error is performed by the operator (manager / worker), the value is learned and stored in the memory unit 103 (S213).

As described above, the present invention has been described through limited embodiments and drawings, but the present invention is not limited thereto, and the present invention has been described below by the person skilled in the art to which the present invention pertains. Various modifications and variations are possible within the scope of the claims.

10: robot 11: base
21: laser vision sensor 101: control panel
102 control unit 103 memory unit
104: display unit 105: drive unit
106: image processing unit

Claims (6)

An operation unit including a power on / off key of the robot, a job command setting key, and a job execution execution key;
An image processor configured to process an image input from a laser vision sensor mounted to the robot;
A driving unit configured to execute joint and axis driving of the robot under control of a controller;
A display unit displaying an operation state of the robot;
Including,
It is initialized according to the power-on and executes warm up by operating each joint and rotation axis of the robot through the driving unit, and controls the laser vision sensor in the warm up process to scan an image of a designated line and then precision reference point as reference data. A controller which determines whether an axis error is generated in comparison with an image;
Including;
The controller determines whether an axis error occurs by further referring to the learned origin image.
And the learned home image is an image generated by scanning the specified line by the laser vision sensor when the work or processing quality of the robot is equal to or greater than a specified pass line.
delete The method of claim 1,
And a memory unit configured to store a job control command input from the operation unit and a calibration result of the learned axis error.
The method of claim 1,
The control unit scans the scanned image in any one or more directions of the horizontal direction in the lower or upper side of the base front on the X axis, the left or right side of the base front on the Y axis, and the diagonal direction of the base front on the Z axis from the laser vision sensor. Axis management device for the robot, characterized in that the input and analysis.
In the axis management method of a robot equipped with a laser vision sensor,
Scanning the image of the base specific line with a laser vision sensor during warm-up of the robot when initialization is performed according to power on;
Determining whether an axis error is generated by comparing the scanned base specific line with the image of the precision origin;
Instructing information on occurrence of an axis error if detected;
Including,
The process of determining whether the axis error occurs is to determine whether the axis error occurs by further referring to the learned origin image,
And the learned origin image is an image generated by the laser vision sensor scanning the specific line when the work or processing quality of the robot is equal to or greater than a specified pass line. delete

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