KR101982614B1 - Robot for droop and vibration measurement - Google Patents

Abstract

The deflection and vibration measuring robot in a stopped state after completion of movement according to an embodiment of the present invention includes a first joint part that is close to an end effector to which a load is applied, a second joint part that corresponds to the first joint part, And a link portion connecting the second joint portion, a light emitting portion provided at the second joint portion for outputting light, a light receiving portion provided at the first joint portion for receiving the light, and a light receiving portion provided at the light receiving portion before the load is applied And a calculating unit for calculating a deflection angle of the link portion according to a distance between the position of the received light and the position of the light received by the light receiving unit in a state in which the load is applied.

Description

[0001] ROBOT FOR DROOP AND VIBRATION MEASUREMENT [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a deflection and vibration measuring robot in which position control precision is increased through the linearity of light.

Industrial robots are robots that are used in the industrial field, most of which are manupulators that correspond to human arms. In other words, unlike a human, an industrial robot generally has one arm, attaches a tool designed to fit the work, and performs work according to the order of the programs embedded in the controller.

An industrial robot used for moving an object can move a specific object to any position. Most of the vertical articulated robots among industrial robots are composed of 6 joints.

1 is a view showing a robot in which a deflection occurs due to an applied load.

1, the vertical articulated robot 100 includes a first joint part 110, a second joint part 111, and an end effector 120 connected to the link part 130 to move the object 125 Can be moved. While the end effector 120 moves the object 125, a force in the vertical direction due to heavy load or gravity is concentrated on the link portion 130 and the joint portions 110 and 111 of the robot. Therefore, the position of the link portion 130 may be drooped or sagged relative to the position of the initial link portion.

In addition, the second joint 111 may generate mechanical vibration during fast acceleration or deceleration of the link 130. There may arise a problem that the exact position of the link part 130 can not be determined due to the influence of the vibration of the second joint part 111. [ If the mechanical vibration problem of the second joint part 111 occurs, a problem may arise in the position control accuracy of the robot.

An object of the present invention is to provide a deflection and vibration measuring robot that includes a light emitting portion at a second joint portion and a light receiving portion at a first joint portion to measure a deflection position of a link portion and calculate a deflection value to correct a position error.

Another object of the present invention is to provide a deflection and vibration measuring robot having a light emitting portion at a second joint portion and a light receiving portion at a first joint portion to measure a displacement amount according to vibration generated during driving and thereby determine a mechanical defect.

According to an aspect of the present invention, there is provided a deflection and vibration measuring robot including a first joint part that is close to an end effector to which a load is applied, A link part connecting the first joint part and the second joint part, a light emitting part provided in the second joint part to output light, a light receiving part provided in the first joint part to receive the light, And a calculation unit for calculating a deflection angle of the link unit according to a distance between the position of the light received by the light receiving unit and the position of the light received by the light receiving unit in a state where the load is applied before the load is applied .

The apparatus may further include a controller for correcting the position error generated by the load through the deflection angle calculated by the calculating unit.

In an embodiment, the calculating unit may calculate the deflection angle based on the distance and the length of the link portion.

In an embodiment, the deflection angle may correspond to a value obtained by dividing the distance by the length of the link portion.

In an embodiment, the control unit may correct the position error by reflecting a deflection angle of the calculation unit in a robot kinematic modeling equation.

According to another aspect of the present invention, there is provided a robot for deflection and vibration measurement, the robot including a first joint part adjacent to an end effector of the robot, a second joint part corresponding to the first joint part, A light emitting unit provided in the second joint part to output light, and a light receiving part provided in the first joint part to receive the light, a light emitting part provided in the first joint part, And a measuring unit for measuring the vibration through a displacement amount of the position of the light received by the light receiving unit according to the vibration.

The apparatus may further include a controller for determining a mechanical defect of the robot according to the vibration.

In the embodiment, the amount of displacement may indicate a change in the position of the light received by the light receiving unit in the x-axis and y-axis directions.

In an exemplary embodiment, the controller may determine the mechanical defect by converting the frequency per second of the amount of displacement into a frequency level.

In an embodiment, the controller may determine the mechanical defect through a difference between the converted frequency and a frequency generated in normal driving.

In an exemplary embodiment, the light emitting unit may include at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.

In an embodiment, the light receiving unit may include at least one of a photodiode sensor, a phototransistor sensor, and a CdS (cadmium sulfide) sensor.

The effect of the deflection and vibration measuring robot according to the present invention is as follows.

According to at least one of the embodiments of the present invention, the deflection and vibration measuring robot includes a light emitting portion at the second joint portion and a light receiving portion at the first joint portion to measure the deflection position of the link portion and calculate the deflection value to correct the position error have.

According to at least one of the embodiments of the present invention, the deflection and vibration measuring robot is provided with a light emitting portion at the second joint portion and a light receiving portion at the first joint portion to measure the amount of displacement in accordance with the vibration generated during driving, Can be determined.

1 is a view showing a deflection and vibration measuring robot in which a deflection occurs due to an applied load.
FIG. 2 is a view showing a principle in which deflection of a link portion is measured in a deflection and vibration measuring robot according to an embodiment of the present invention. FIG.
FIG. 3 is a view showing a deflection and vibration measuring robot according to an embodiment of the present invention before a load is applied.
4 is a view showing an example of measuring a deflection value when deflection occurs due to application of a load.
5 is a diagram illustrating an example of measuring vibration generated during driving in a deflection and vibration measuring robot according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix " module " and " part " for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

FIG. 2 is a view showing the principle of a measuring unit in a deflection and vibration measuring robot according to an embodiment of the present invention.

Referring to FIG. 2, the measuring unit of the deflection and vibration measuring robot according to an embodiment of the present invention may include a light receiving unit 241 and a light emitting unit 242.

The light receiving portion 241 may be formed in correspondence with the light emitting portion 242 and may be disposed at any one portion capable of receiving the light output from the light emitting portion 242 to form the light emitting portion 242 and the light path 250 It is possible.

The light receiving unit 241 may be formed of an element or sensor that receives light, and may be formed of a photodetector that detects an optical signal and converts the optical signal into an electrical signal.

More specifically, the light receiving section 241 may include a light receiving element or sensor (for example, a photodiode sensor, a phototransistor sensor, an Avalanche Photo Diode (APD), a CdS (cadmium sulfide sensor) (E. G., A pn diode, a pin diode, a metal semiconductor diode, a quantum well multi-stage diode).

As shown in FIG. 2, the light receiving portion 241 may be formed to extend in the longitudinal direction relative to the width direction.

Specifically, the extended size of the light receiving unit 241 in the longitudinal direction may be formed by arranging a plurality of light receiving elements in a row, and may be formed by extending one light receiving element.

The light emitting portion 242 may be formed to correspond to the light receiving portion 241. The light emitting unit 242 may include at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.

The optical path 250 may be formed of at least one of infrared rays, ultraviolet rays, and visible rays. Specifically, the infrared ray with a wavelength of about 800-900 nm can be an invisible invisible light, but the light path 250 through the light receiving portion 241 and the light emitting portion 242 can be formed. In addition, when the optical path 250 is formed as a visible light of 380-800 nm, it can be directly detected by a person.

The position 251 of the light received by the light receiving section 241 can be measured through the optical path 250 formed between the light emitting section 242 and the light receiving section 241. [ Specifically, the light output from the light emitting portion 242 contacts any portion of one surface of the light receiving portion 241 facing the light emitting portion 242, and the position 251 of the light received by the light receiving portion can be measured.

Details of forming the light receiving portion 241 and the light emitting portion 242 in the deflection and vibration measuring robot according to an embodiment of the present invention will be described later with reference to FIG. 3 to FIG.

FIG. 3 is a view showing a deflection and vibration measuring robot according to an embodiment of the present invention before a load is applied.

3, the robot according to an embodiment of the present invention may include a first joint part 310, a second joint part 311, a link part 330, and measurement parts 341 and 342.

In the industrial robot, generally, six joints are formed, and the joints in the region close to the end effector of the six joints can be represented by the first joint 310. Specifically, one surface of the first joint 310 may be directly or indirectly connected to the end effector, and the other surface may be connected to the link 330.

The second joint 311 may be formed at another portion corresponding to the first joint 310 connected to any one portion of the link portion 330.

Specifically, each of the first joint 310 and the second joint 311 included in the technical idea of the present invention is applied to at least one of joints 2, 3, 3, and 4 of the industrial robot .

In an industrial robot, a joint is a part for generating a motion of a robot, and it is possible to operate the robot through rotational motion and translational motion. That is, the first joint part 310 and the second joint part 311 may be directly or indirectly connected to the rotary shaft to generate movement of the robot.

Specifically, the first joint part 310 and the second joint part 311 can operate the link part 330 by rotating and translating the rotary shaft.

The link part 330 may serve as a rigid body connecting the first joint part 310 and the second joint part 311. The link portion 330 can be moved under the control of the first joint portion 310 and the second joint portion 311. On the other hand, when a heavy load or gravity is applied to the end effector, the link portion 330 may be struck due to the influence of the end effector.

)을 가질 수 있다.The link portion 330 can perform the circular motion according to the rotational motion of the first joint portion 310 and the second joint portion 311, but the length can not be deformed. That is, the link unit 330 may be a constant value that does not increase or decrease in length

).

According to the present invention, when the joint near the end effector has the light receiving portion 341 and the joint near the base has the light emitting portion 342, the user controlling the robot can not confirm the sagging or sagging of the joint.

That is, the joints near the base, which is a part of the joints connected to both sides of one link part in the industrial robot, are provided with the light emitting part 342 and the joints close to the end effector can have the light receiving part 341. 3, the robot may include a light receiving unit 341 in the first joint part 310 and a light emitting part 342 in the second joint part 311. [

The measurement units 341 and 342 may include a light receiving unit 341 and a light emitting unit 342 and may receive the light path 350 and the light receiving unit 341 formed between the light receiving unit 341 and the light emitting unit 342 And information on the position 351 of the initial light.

The light receiving portion 341 may be formed in correspondence with the light emitting portion 342 and may be disposed at any one portion of the light output from the light emitting portion 342 that can receive light to form the light emitting portion 342 and the light path 350 It is possible.

The light receiving unit 341 may be formed of an element or a sensor that receives light, and may be formed of a photodetector that detects an optical signal and converts it into an electrical signal.

More specifically, the light receiving unit 341 may include a light receiving element or sensor (for example, a photodiode sensor, a phototransistor sensor, an Avalanche Photo Diode (APD), a CdS (cadmium sulfide sensor) (E. G., A pn diode, a pin diode, a metal semiconductor diode, a quantum well multi-stage diode).

2, the light receiving portion 341 may be formed to extend in the longitudinal direction relative to the width direction.

Specifically, the extended size of the light receiving portion 341 in the longitudinal direction may be formed by arranging a plurality of light receiving elements in a row, and may be formed by extending one light receiving element.

The light emitting portion 342 may be formed so as to correspond to the light receiving portion 341. The light emitting portion 342 may include at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.

The light path 350 may be formed of at least one of infrared rays, ultraviolet rays, and visible rays. Specifically, the infrared ray with a wavelength of about 800-900 nm can be an invisible invisible light ray, but the light ray path 350 through the light receiving portion 341 and the light emitting portion 342 can be formed. In addition, when the optical path 350 is formed as a visible light of 380-800 nm, it can be directly detected by a person.

The position 351 of the initial light received by the light receiving portion 341 can be measured through the optical path 350 formed between the light emitting portion 342 and the light receiving portion 341. [ Specifically, the light output from the light emitting portion 342 contacts any portion of one surface of the light receiving portion 341 facing the light emitting portion 342, and the position 351 of the initial light received by the light receiving portion can be measured.

4 is a view showing an example of measuring a deflection value when deflection occurs due to application of a load.

 4, the deflection and vibration measuring robot according to an embodiment of the present invention includes a first joint part 410, a second joint part 411, a link part 430, Measuring units 441 and 442, a calculating unit (not shown), and a control unit (not shown).

In the industrial robot, six joints are generally formed, and the joints in a region close to the end effector of the six joints can be represented by the first joint 410. Specifically, one side of the first joint part 410 may be directly or indirectly connected to the end effector, and the other side may be connected to the link part 430.

The second joint part 411 may be formed at another part corresponding to the first joint part 410 connected to any one part of the link part 430.

Specifically, each of the first joint part 410 and the second joint part 411 included in the technical idea of the present invention is applied to at least one of joints 2, 3 and 3 and joint 4 of the industrial robot .

In an industrial robot, a joint is a part for generating a motion of a robot, and it is possible to operate the robot through rotational motion and translational motion. In other words, the first joint part 410 and the second joint part 411 can be directly or indirectly connected to the rotary shaft, thereby making the motion of the robot.

Specifically, the first joint part 410 and the second joint part 411 can operate the link part 430 by rotating and translating the rotary shaft.

The link portion 430 may serve as a rigid body connecting the first joint portion 410 and the second joint portion 411. The link portion 430 can be moved under the control of the first joint portion 410 and the second joint portion 411. On the other hand, when heavy load or gravity is applied to the end effector, the link portion 430 may be struck due to the influence of the end effector.

)을 가질 수 있다.The link portion 430 can perform the circular motion according to the rotational motion of the first joint portion 410 and the second joint portion 411, but the length can not be deformed. In other words, the link unit 430 may have a constant value (for example,

).

According to the present invention, when the joint near the end effector has the light receiving portion 441 and the joint near the base has the light emitting portion 442, the user controlling the robot can not confirm the deflection or sagging of the joint portion.

That is, the joints near the base, which is a part of the joints connected to both sides of one link part in the industrial robot, are provided with the light emitting part 442 and the joints close to the end effector may have the light receiving part 441. 4, the robot may include a light receiving portion 441 in the first joint portion 410 and a light emitting portion 442 in the second joint portion 411. [

The measurement sections 441 and 442 may include a light receiving section 441 and a light emitting section 442 and may include an optical path 450 formed between the light receiving section 441 and the light emitting section 442, Information about the position 451 of the initial light and the position 452 of the light.

The light receiving unit 441 may be formed in correspondence with the light emitting unit 442 and may be disposed at any one portion capable of receiving the light output from the light emitting unit 442 to form the light path 450 with the light emitting unit 442 It is possible.

The light receiving unit 441 may be formed of an element or sensor that receives light, and may be formed as a photodetector that detects an optical signal and converts the optical signal into an electrical signal.

More specifically, the light receiving section 441 may be formed of a light receiving element or a sensor (for example, a photodiode sensor, a phototransistor sensor, an Avalanche Photo Diode (APD), a CdS (cadmium sulfide sensor) (E. G., A pn diode, a pin diode, a metal semiconductor diode, a quantum well multi-stage diode).

2, the light receiving portion 441 may be formed to extend in the longitudinal direction relative to the width direction.

Specifically, the extended size of the light receiving portion 441 in the longitudinal direction may be formed by arranging a plurality of light receiving elements in a row, and may be formed by extending one light receiving element.

The light emitting portion 442 may be formed in correspondence with the light receiving portion 441. The light emitting portion 442 may include at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.

The optical path 450 may be formed of at least one of infrared rays, ultraviolet rays, and visible rays. Specifically, the infrared ray with a wavelength of about 800-900 nm can be an invisible invisible light ray, but an optical path 450 through the light receiving portion 441 and the light emitting portion 442 can be formed. Further, when the optical path 450 is formed as a visible light of 380-800 nm, it can be directly detected by a person.

The positions 451 and 452 of the light received by the light receiving unit 441 can be measured through the optical path 450 formed between the light emitting unit 442 and the light receiving unit 441. Specifically, the light output from the light emitting portion 442 comes into contact with any portion of one surface of the light receiving portion 441 facing the light emitting portion 442, and the positions 451 and 452 of the light received by the light receiving portion can be measured .

The position of the initial light 451 received by the light receiving unit 441 before the load is applied may be formed at a position close to the first joint 410. That is, the position 451 of the initial light may be located at a position corresponding to the initial value region corresponding to the position of the link portion 430 before the load is applied.

The position 452 of the light received by the light receiving unit 441 in a state in which the load is applied may be formed in an upper region of the light receiving unit 441 as shown in FIG. That is, the position 452 of the light received by the light receiving portion 441 may also be located in the changed region corresponding to the position where the load is applied and the link portion 430 is deformed (deflected downward).

The positions 451 and 452 of the light received by the light receiving unit 441 and the positions 452 of the light received by the light receiving unit 441 are different from each other, Can be measured.

)를 알고 있으므로, 산출부(미도시)에서 링크부(430)의 처짐각(

)을 계산할 수 있다.When the value of the distance d is measured, the length of the link portion 430

The deflection angle (?) Of the link portion 430 in the calculation unit (not shown)

) Can be calculated.

)에 기반하여, 처짐각(

)을 계산할 수 있다. Specifically, the formula (1) is applied so that the calculation unit (not shown) calculates the distance d and the length of the link unit 430

), The deflection angle (

) Can be calculated.

)은 거리(d)를 링크부의 길이(

)로 나는 값에 해당될 수 있다. That is,

) Is the distance d from the length of the link portion (

) I can correspond to the value.

The kinematic equations between the first joint part 410 and the second joint part 411 can be obtained by applying the well-known Denavit-Hartenberg link modeling method in the case where the joint parts 410 and 411 and the link part 430 exist in the robot, The following expression (2) is possible.

행렬식을 동차변환행렬식(homogeneous transformation matrix)이라고 한다.Equation 2

The determinant is called a homogeneous transformation matrix.

)을 수학식 2에 반영하면 아래의 수학식 3을 구할 수 있다.The calculated deflection angle (?) Through the light emitting portion 411, the light receiving portion 410 and the calculation portion

) Is reflected in the equation (2), the following equation (3) can be obtained.

)이 반영된 수학식 3을 통하여, 하중으로 발생된 위치오차를 보정할 수 있다. 구체적으로, 제어부(미도시)는 로봇 기구학 모델링 방정식에 산출부(미도시)에서 측정된 처짐각(

)을 반영하여 위치오차를 보정할 수 있고, 위치오차의 보정을 통하여 기구적 위치정밀도를 향상시킬 수 있다.The controller (not shown) calculates the deflection angle (< RTI ID = 0.0 >

, The position error generated by the load can be corrected through Equation (3). Specifically, the control unit (not shown) calculates the deflection angle (?) Measured in the calculation unit (not shown) in the robot kinematic modeling equation

The position error can be corrected and the mechanical position accuracy can be improved by correcting the position error.

5 is a diagram illustrating an example of measuring vibration generated during driving in a deflection and vibration measuring robot according to another embodiment of the present invention.

5, the driving deflection and vibration measuring robot includes a first joint part 510, a second joint part 511, a link part 530, measurement parts 541 and 542, and a control part (not shown) .

In the industrial robot, six joints are generally formed, and joints in a region close to the end effector of the six joints can be represented by the first joint 510. Specifically, one side of the first joint part 510 may be connected directly or indirectly with the end effector, and the other side may be connected to the link part 530.

The second joint part 511 may be formed at another part corresponding to the first joint part 510 connected to any one part of the link part 530.

Specifically, each of the first joint part 510 and the second joint part 511 included in the technical idea of the present invention is applied to at least one of joints 2, 3 and 3 and joint 4 of the industrial robot .

In an industrial robot, a joint is a part for generating a motion of a robot, and it is possible to operate the robot through rotational motion and translational motion. That is, the first joint part 510 and the second joint part 511 can be directly or indirectly connected to the rotary shaft, thereby making motion of the robot.

Specifically, the first joint part 510 and the second joint part 511 can operate the link part 530 by rotating and translating the rotary shaft.

The link portion 530 may serve as a rigid body connecting the first joint portion 510 and the second joint portion 511. The link portion 530 can be moved under the control of the first joint portion 510 and the second joint portion 511.

)을 가질 수 있다.The link portion 530 can perform the circular motion according to the rotational motion of the first joint portion 510 and the second joint portion 511, but the length can not be deformed. That is, the link unit 530 has a constant value (for example,

).

According to the present invention, when the joint near the end effector has the light receiving portion 541 and the joint near the base has the light emitting portion 542, the user who controls the robot can not confirm the deflection or sagging of the joint portion.

That is, the joints near the base, which is a part of the joints connected to both sides of one link part in the industrial robot, have the light emitting part 542 and the joints near the end effector may have the light receiving part 541. 5, the robot may include a light receiving unit 541 in the first joint part 510 and a light emitting part 542 in the second joint part 511. In addition,

The measuring portions 541 and 542 may include a light receiving portion 541 and a light emitting portion 542. The measuring portions 541 and 542 may include a light emitting portion 541 and a light emitting portion 542 formed between the light receiving portion 541 and the light emitting portion 542, 1 optical path 555 and the second optical path 556. [

The light receiving portion 541 may be formed in correspondence with the light emitting portion 542 and may be disposed at any one portion capable of receiving the light output from the light emitting portion 542 so that the light emitting portion 542 and the first light path 555, The second optical path 556 may be formed.

The light receiving unit 541 may be formed of an element or a sensor that receives light, and may be formed of a photodetector that detects an optical signal and converts it into an electrical signal.

More specifically, the light receiving section 241 may include a light receiving element or sensor (for example, a photodiode sensor, a phototransistor sensor, an Avalanche Photo Diode (APD), a CdS (cadmium sulfide sensor) (E. G., A pn diode, a pin diode, a metal semiconductor diode, a quantum well multi-stage diode).

Likewise, as described with reference to FIG. 2, the light receiving portion 541 may be formed to extend in the longitudinal direction relative to the width direction.

Specifically, the extended size of the light receiving portion 541 in the longitudinal direction may be formed by arranging a plurality of light receiving elements in a row, and may be formed by extending one light receiving element.

The light emitting portion 542 may be formed so as to correspond to the light receiving portion 541. The light emitting portion 542 may include at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.

The first optical path 555 and the second optical path 556 may be formed of at least one of infrared rays, ultraviolet rays, and visible rays. The first light path 555 and the second light path 556 through the light receiving unit 541 and the light emitting unit 542 are formed by forming . In addition, when the first optical path 555 and the second optical path 556 are formed as visible light of 380-800 nm, human beings can directly be identified.

The position 553 of the first light and the position 554 of the second light received at the light receiving portion 541 are the same as the positions of the first light path 555 and the second light path 555 formed between the light emitting portion 542 and the light receiving portion 541, 556). Specifically, the light output from the light emitting portion 542 comes into contact with any portion of one surface of the light receiving portion 541 facing the light emitting portion 542, and the position of the first light 553 and the position of the second light received by the light receiving portion, (554) can be measured.

The measuring portions 541 and 542 can measure the amount of displacement of the position of the light received by the light receiving portion 541 in accordance with the vibration generated during driving. Specifically, the displacement amount of the received light may indicate a change in the position of the light received by the light receiving section 541 in the x-axis and y-axis directions.

Here, Equation (4) is generally called Fast Fourier Transform (FFT) for Fourier transform calculation of discrete data values.

The control unit (not shown) can determine the mechanical defects of the robot according to the measured displacement amount. Specifically, the control unit (not shown) can convert the frequency per second of the displacement amount into the frequency level by applying Equation (4), and determine the mechanical defect.

In addition, the control unit (not shown) can determine the mechanical defect through the frequency difference between the frequency of the robot failure and the frequency of the normal driving.

The foregoing detailed description should not be construed in any way as being restrictive and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

110: 1st joint
111: second joint
120: End effector
125: Load
130, 330, 430, 530:
241, 341, 441, 541:
242, 342, 442, and 542:
250, 350, 450: light path
251, 351, 451: position of initial light
310, 410, 510: First joint
311, 411, 511:
452: position of light
553: 1st position of light
554: second position of light
555: First light path
556: Second light path

Claims (12)

In the deflection and vibration measuring robot in a state where movement is completed and stopped,
A first joint positioned adjacent to an end effector to which a load is applied;
A second joint corresponding to the first joint;
A link portion connecting between the first joint portion and the second joint portion;
A light emitting unit provided at the second joint and outputting light;
A light receiving unit provided in the first joint and having a plurality of light receiving elements arranged in a row to receive the light;
A calculating unit for calculating a deflection angle of the link unit according to a distance between the position of the light received by the light receiving unit and the position of the light received by the light receiving unit in a state where the load is applied before the load is applied; And
And a control unit for correcting the position error generated by the load through the deflection angle calculated by the calculation unit.
delete The method according to claim 1,
The calculating unit calculates,
And calculates the deflection angle based on the distance and the length of the link portion.
The method according to claim 1,
Preferably,
And the distance is divided by the length of the link portion.
The method according to claim 1,
Wherein,
And a deflection and vibration measuring robot for correcting the position error by reflecting a deflection angle of the calculating unit in a robot kinematic modeling equation.
In a driving deflection and vibration measuring robot,
A first joint positioned adjacent to an end effector of the robot;
A second joint corresponding to the first joint;
A link portion connecting between the first joint portion and the second joint portion;
A light emitting unit provided at the second joint and outputting light;
A light receiving unit provided in the first joint and having a plurality of light receiving elements arranged in a row to receive the light; And
A measuring unit for measuring the vibration through a displacement amount of the position of the light received by the light receiving unit according to the vibration generated during the driving; And
And a controller for determining a mechanical defect of the robot according to the vibration.
delete The method according to claim 6,
The amount of displacement,
And a light receiving unit for receiving the light reflected by the light receiving unit.
The method according to claim 6,
Wherein,
And a deflection and vibration measuring robot for converting the frequency of the displacement into a frequency level to determine the mechanical defect.
10. The method of claim 9,
Wherein,
Wherein the deflection and vibration measuring robot determines the mechanical defect through a difference between the converted frequency and a frequency generated in normal driving.
7. The method according to claim 1 or 6,
The light-
A deflection and vibration measuring robot including at least one of a light emitting diode (LED), a semiconductor laser (LD), and a solid laser.
7. The method according to claim 1 or 6,
The light-
A photodiode sensor, a phototransistor sensor, and a cds (cadmium sulfide) sensor.

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