KR102356244B1 - Apparatus and method for sealing hotmelt of housing - Google Patents

Abstract

The present invention scans the housing through a robot, a vision module installed in the robot to scan the housing according to the movement of the robot, a hot melt discharge unit installed in the robot to discharge hot melt to the housing according to the movement of the robot, and the vision module The overall shape data of the housing is generated, the deformation amount of the housing is obtained based on the overall shape data, and the application path for hot melt application is corrected based on the obtained deformation amount, and then the corrected application path is transmitted to the robot to apply hot melt to the housing. It is characterized in that it comprises an application control module to apply.

Description

Apparatus and method for hot melt application of housing

The present invention relates to an apparatus and method for applying hot melt for a housing, and more particularly, to an apparatus and method for applying a hot melt of a housing for measuring a deformation amount of the housing and correcting a hot melt application path based on the measured deformation amount.

In general, a vehicle provides a lighting function to identify objects in a driving direction when driving at night, and includes a headlamp for informing other vehicles or other road users of the driving state of the vehicle. Such a vehicle headlamp includes a light source such as a halogen lamp or a high intensity discharge (HID).

On the other hand, hot melt is a solvent-free adhesive that does not use a solvent, unlike the solvent-type adhesives that are currently most used in industrial fields. The importance of automation is increasing because it is easy to work with.

These hot melts are currently being applied to the automobile industry, and are used in various areas such as car seats, wire cable fixing to vehicle roof vestibules, carpet bonding, foam materials, smart keys, filter bonding, etc., as well as being used in the housing of headlamps. .

However, in the prior art, when hot melt is applied to the housing, the deformation of the housing is not inspected in advance, so that the over-deformed defective housing is supplied to the post-process, and as a result, there is a problem of causing process defects.

In addition, conventionally, even when the housing is deformed, the 6-axis robot applies the hot melt according to the preset application path, resulting in defective hot melt application, and problems such as tip & housing damage.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-1176302 (2012.08.16).

The present invention has been devised to solve the above problems, and an object of the present invention is to measure the deformation amount of the housing and correct the hot melt application path based on the measured deformation amount to prevent hot melt application failure in advance. and to provide a method.

Another object of the present invention is to provide an apparatus and method for applying hot-melt housing to a housing that prevents a process defect in the production of a headlamp in advance by selecting an over-deformed housing and preventing input to a post-process.

Another object of the present invention is to provide an apparatus and method for applying hot melt to a housing that prevents damage to the tip & housing by applying hot melt according to the corrected application path even when the housing is deformed, and prevents process defects such as poor airtightness will do

A housing hot melt application device according to an aspect of the present invention comprises: a robot; a vision module installed in the robot to scan the housing according to the movement of the robot; a hot melt discharge unit installed in the robot to discharge hot melt to the housing according to the movement of the robot; and scanning the housing through the vision module to generate overall shape data of the housing, obtaining a deformation amount of the housing based on the overall shape data, and correcting the application path for hot melt application based on the obtained deformation amount Then, it characterized in that it comprises a coating control module for applying the hot melt to the housing by transferring the corrected application path to the robot.

In the present invention, the robot is characterized in that it is a 6-axis robot that can move in the x-axis, y-axis, z-axis, rx-axis, ry-axis and rz-axis.

In the present invention, the vision module includes: a laser generator for irradiating a laser to the housing; a first camera for acquiring first laser profile data by photographing the housing when a laser is irradiated by the laser generator; and a second camera configured to acquire second laser profile data by photographing the housing when the laser is irradiated by the laser generator, wherein the first laser profile data and the second laser profile data are respectively acquired at preset positions to deliver it to the application control module.

In the present invention, the application control module generates the overall shape data by collecting the first laser profile data, the second laser profile data, and the trigger signal of the robot.

In the present invention, the application control module is characterized in that it acquires the amount of deformation based on an error between the overall shape data and preset reference data.

In the present invention, the application control module compares the overall shape data with the reference data, and corrects the application path according to whether the deformation amount is within a preset deformation amount.

In the present invention, the application control module is characterized in that if the deformation amount is within the set deformation amount, correcting the application path.

In the present invention, the application path is characterized in that it includes a plurality of path points converted to the position value of the robot.

In the present invention, the application control module determines whether the deformation amount is within the set deformation amount for each path point, and corrects the application path according to the determination result.

In the present invention, when the amount of deformation deviates from the set amount of deformation, NG processing is performed on the housing.

According to an aspect of the present invention, there is provided a method for applying hot melt on a housing, comprising: scanning, by a vision module, of a housing according to the movement of a robot; generating, by the application control module, the overall shape data of the housing using the data acquired through the vision module; obtaining, by the application control module, an amount of deformation of the housing based on the overall shape data; correcting, by the application control module, an application path for hot melt application based on the deformation amount; and moving the robot along the application path and discharging the hot melt by the hot melt applicator.

In the present invention, the overall shape data is characterized in that it is generated by combining the first laser profile data, the second laser profile data, and the trigger signal of the robot.

In the present invention, the amount of deformation is obtained based on an error between the overall shape data and preset reference data.

In the present invention, the step of correcting the application path comprises compensating the application path according to whether the amount of deformation is within a preset deformation amount by comparing the entire shape data with the reference data.

In the present invention, the step of correcting the application path is characterized in that if the deformation amount is within the set deformation amount, the application path is corrected.

In the present invention, the application path is characterized in that it includes a plurality of path points converted to the position value of the robot.

In the present invention, in the step of correcting the application path, it is determined for each path point whether the deformation amount is within the set deformation amount, and correcting the application path according to the determination result.

The present invention is characterized in that it further comprises the step of the application control module NG processing the housing when the deformation amount deviates from the set deformation amount.

The present invention measures the deformation amount of the housing and corrects the hot melt application path based on the measured deformation amount to prevent hot melt application failure in advance.

The present invention selects the over-deformed housing to prevent input to the post-process, thereby preventing process defects in the production of headlamps in advance.

The present invention prevents tip & housing damage by applying hot melt according to the corrected path even when the housing is deformed, and prevents process defects such as poor airtightness.

1 is a block diagram of a housing hot melt application device according to an embodiment of the present invention.
2 is an exemplary diagram of a robot and a vision module according to an embodiment of the present invention.
3 is a block diagram of a hot melt application unit according to an embodiment of the present invention.
4 is an exemplary diagram of a TCP (Tool Center Position) setting of a hot melt application unit according to an embodiment of the present invention.
5 is a diagram illustrating TCP configuration of a vision module according to an embodiment of the present invention.
6 is a diagram illustrating calibration of a vision module according to an embodiment of the present invention.
7 is a view exemplarily illustrating a scan path teaching process for a housing according to an embodiment of the present invention.
8 is a diagram illustrating a channel according to an embodiment of the present invention.
FIG. 9 is a diagram illustrating a scan result of the channel unit of FIG. 8 .
10 is a view showing a range map of a housing according to an embodiment of the present invention.
11 is a view showing overall shape data of a housing according to an embodiment of the present invention.
12 is a diagram illustrating an example of measuring a position value and a rotation amount based on reference data according to an embodiment of the present invention.
13 is a diagram illustrating a process of calculating a new path point according to an embodiment of the present invention.
14 is an exemplary diagram illustrating a position value of a robot path point corrected by a deformation amount according to an embodiment of the present invention.
15 is a diagram illustrating a path point of a robot according to an embodiment of the present invention.
16 is a flowchart of a method for applying hot melt on a housing according to an embodiment of the present invention.

Hereinafter, an apparatus and method for applying hot melt of a housing according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram of a housing hot melt application device according to an embodiment of the present invention, FIG. 2 is an exemplary view of a robot and a vision module according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention A configuration diagram of a hot melt applicator according to an example, FIG. 4 is an exemplary view of TCP (Tool Center Position) setting of a hot melt applicator according to an embodiment of the present invention, and FIG. 5 is a TCP of a vision module according to an embodiment of the present invention It is an exemplary setting diagram, FIG. 6 is a diagram illustrating calibration of a vision module according to an embodiment of the present invention, and FIG. 7 is a diagram exemplarily showing a scan path teaching process for a housing according to an embodiment of the present invention, 8 is an exemplary view of a channel according to an embodiment of the present invention, FIG. 9 is a view showing a scan result of the channel unit of FIG. 8, and FIG. 10 is a range map of a housing according to an embodiment of the present invention 11 is a view showing the overall shape data of the housing according to an embodiment of the present invention, and FIG. 12 is an example of measuring the position value and the amount of rotation based on the reference data according to the embodiment of the present invention 13 is a view showing a process of calculating a new path point according to an embodiment of the present invention, and FIG. 14 is a position value of the robot path point corrected by the deformation amount according to an embodiment of the present invention. 15 is a diagram illustrating a path point of a robot according to an embodiment of the present invention.

Referring to FIG. 1 , the hot melt application device of the housing according to an embodiment of the present invention includes a robot 10 , a vision module 20 , a hot melt discharge unit 30 , and an application control module 40 .

Referring to FIG. 2 , the robot 10 scans the housing through the vision module 20 and moves in various directions so that the hot melt discharge unit 30 can apply the hot melt to the housing. The robot 10 may be a 6-axis robot 10 that is movable in the x-axis, y-axis, z-axis, rx-axis, ry-axis and rz-axis directions.

The vision module 20 is installed in the robot 10 , scans the housing according to the movement of the robot 10 , and transmits the scanned data to the application control module 40 . The vision module 20 includes a first camera 21 , a second camera 22 , and a laser generator 23 .

The laser generator 23 irradiates a line laser to the housing, and the first camera 21 acquires first laser profile data by photographing the housing when the laser is irradiated by the laser generator 23, and the second The camera 22 acquires the second laser profile data by photographing the housing when the laser is irradiated by the laser generator 23 . The laser generator 23 and the first camera 21 and the second camera 22 are driven in synchronization with each other.

The hot melt discharge unit 30 is installed in the robot 10 as shown in FIG. 3 to discharge the hot melt to the housing according to the movement of the robot 10 to apply the hot melt to the housing.

Here, the vision module 20 and the hot melt discharging unit 30 are respectively installed in the robot 10, and each is switched by the robot 10 to perform a unique operation, and is selected by a method such as pneumatic control. can become

In addition, the robot 10 , the vision module 20 , the hot melt dispensing unit 30 , and the application control module 40 are connected to each other through Ethernet communication, I/O communication, etc. to transmit/receive various data to and from each other. Here, the communication method is not limited to the above-described embodiment, and may be variously selected according to the communication environment of the workplace.

The application control module 40 controls the robot 10 to scan the housing through the vision module 20 to generate overall shape data of the housing, and based on the error between the generated overall shape data and preset reference data, the housing The amount of deformation of is obtained, and a sealing path is generated based on the amount of deformation. Then, the application control module 40 compares the obtained deformation amount with a preset deformation amount, corrects the application path for hot melt application according to the comparison result, and transmits it to the robot 10 . Accordingly, the robot 10 moves along the above-described application path, and at this time, the hot melt discharge unit 40 discharges the hot melt to the housing to apply the hot melt.

Here, the reference data is the overall shape data set based on the undeformed housing, and is data serving as a criterion for determining whether the deformation amount and the deformation direction of the housing are within the set deformation amount.

In order to obtain such reference data, first, the origins of the hot melt discharge unit 30 and the vision module 20 are calibrated.

That is, the distance and angle values (x, y, z, rx, ry, rz) from the robot flange to the hot melt discharge unit 30 are set in the hot melt discharge unit 30 as shown in FIG. 4 . The distance and angle values to the hot melt discharging unit 30 are set based on a pre-stored production drawing, and in this case, it may be set using a robot Tool Center Position (TCP) function.

In addition, as shown in FIG. 5 , the distance and angle values (x, y, z, rx, ry, rz) between the vision module 20 and the distance between the vision module 20 are set in the vision module 20. In this case, the robot 10 ), the distance and the angle value between the vision modules 20 in the flange may be set by adding a W/D distance value to a preset production drawing reference.

In addition, as shown in FIG. 6 , the laser is irradiated while the vision module 20 and the calibration target are maintained in parallel through the first camera 21 and the second camera 22 of the vision module 20, In this case, the tilt is adjusted so that the center of the top surface of the calibration target is located at the center of the image. In addition, after acquiring the laser images of the left and right cameras, static calibration of the AQSENSESal 3D library is performed to obtain calibration data.

Meanwhile, after calibrating the origins of the hot melt discharge unit 30 and the vision module 20 as described above, a robot teaching process is performed to scan the housing using the vision module 20 and discharge the hot melt. The robot teaching process includes a scan path teaching process for the vision module 20 to scan the housing, and a coating path teaching process for the hot melt discharge unit 30 to discharge hot melt to the housing.

First, if the channel part of the housing is described as an example, the scan path teaching process is performed so that the shape of the upper part and the bottom surface of the channel is well revealed, and the bottom surface of the channel part and the vision module 20 are perpendicular to each other as shown in FIGS. 7 and 8 . It is taught so that the bottom of the channel is always at the same position on the image. 9 shows data corresponding to the shape of the upper and lower surfaces of the channel when the channel portion of the housing is scanned with the vision module 20 to generate reference data.

Then, the teaching process of the application path teaching process is performed according to the criteria shown in Table 1 below.

Hot melt application route teaching standard Item Explanation speed V = 100 mm/s average application angle Keep at least 20° to the robot's direction of travel dispensing height 5mm from the bottom overlap Application start-finish overlap section: 15mm inflection point No excessive rotation on the robot side (within 10° rotation based on 10mm movement) foreign body Robot and hose interfering part robot motion removal

When the hot melt discharge unit 30 applies hot melt based on Table 1 above, among the hot melt application path teaching standards, the moving speed of the hot melt discharge unit 30 that affects the amount of hot melt applied, and the voids and hot melt tremors The coating height of the affected hot melt applicator 30 may be further adjusted.

Meanwhile, when the reference data is generated as described above, the application control module 40 newly corrects the deformation amount and the application path based on the reference data.

In more detail, the application control module 40 controls the vision module 20 to scan the housing, and the first laser profile data acquired by the first camera 21, the second The second laser profile data acquired by the camera 22 and the trigger signal of the robot 10 are combined to generate overall shape data.

In this case, the first laser profile data, the second laser profile data, and the trigger signal are each collected at the same time, and each time corresponds to the path point of the reference data preset for the housing, that is, the position value of the robot 10 . corresponds to That is, whenever the robot 10 moves and reaches the above-described path point, the application control module 40 receives the first laser profile data, the second laser profile data, and the trigger signal together with the corresponding time from the vision module 20 . are input and use them to generate overall shape data.

In addition, the application control module 40 generates, respectively, a range map as shown in FIG. 10 using the trigger signal and the first laser profile data, and the trigger signal and the second laser profile data. The combined range maps are merged to generate 3D (Dimension) overall shape data for the housing as shown in FIG. 11 .

When the overall shape data is generated in this way, the application control module 40 acquires the amount of deformation based on the error between the reference data set as described above and the overall shape data (sample 1 of FIG. 12 ) as shown in FIG. 12 .

That is, the application control module 40 measures the x position value, y position value, z position value, and rx rotation amount, ry rotation amount and rz rotation amount of the entire shape data, and the overall shape as shown in FIG. 13 . Calculate the channel center line (brown line) of the data, and draw a circle (green circle) with the robot teaching reference (brown line) as the origin of the reference data. Then, the application control module 40 calculates the position of the contact point where this circle is in contact with the channel center line (brown line). In this case, the contact point in contact with the circle and the channel center line (brown line) is the newly corrected path point of the application path, and each path point of the application path may be newly corrected.

When the path points are obtained in this way, the application control module 40 obtains the deformation amount for each path point and sorts the obtained deformation amount as shown in FIG. 14 , and sets the deformation amount calculated for each path point in advance As a result of comparison with the deformation amount, if the deformation amount for each path point deviates from the preset deformation amount, the housing is treated as NG and discharged from the process line.

On the other hand, if the amount of deformation obtained for each path point is within a preset deformation amount, the application control module 40 transmits the application path, that is, the path point shown in FIG. 15 to the robot 10 . In this case, the path point is generated based on the data obtained based on the vision module 20 , that is, the vision coordinate system value of the vision module 20 , and is converted into a robot coordinate system value that is an absolute coordinate system value. To this end, the application control module 40 converts the vision coordinate system value into a robot coordinate system value using the tool matrix T as in Equation 1 below, and in this case, the rotation is converted in the order of z, y, and x.

That is, the application control module 40 acquires the robot coordinate system value through Equation 2 below.

Here, P _robot is a coordinate system value of the robot 10, T is a tool matrix, and P _vision is a vision coordinate system value.

On the other hand, after generating the application path as described above, the application control module 40 transmits the application path to the robot 10, and the robot 10 stores the application path as a position variable. Correct the application path and move along the corrected application path so that the hot melt can be applied to the housing.

Hereinafter, a method for applying hot melt on a housing according to an embodiment of the present invention will be described in detail with reference to FIG. 16 .

Referring to FIG. 16 , the application control module 40 controls the robot 10 to scan the housing through the vision module 20 to generate overall shape data of the housing ( S10 ).

More specifically, the vision module 20 scans the housing according to the movement of the robot 10 , and transmits the scanned data, that is, the first laser profile data and the second laser profile data to the application control module 40 , and , the robot 10 transmits a trigger signal to the application control module 40 .

Then, the application control module 40 generates a range map using the trigger signal and the first laser profile data, and the trigger signal and the second laser profile data, respectively, and merges the generated range map to the housing. It creates the overall shape data in 3D (Dimension) form.

When the overall shape data is generated as described above, the application control module 40 newly creates a path point based on the error between the overall shape data and the reference data, and checks the amount of deformation for each generated path point ( S20 ).

Next, the application control module 40 compares the deformation amount for each path point with a preset deformation amount, and as a result of the comparison, determines whether the deformation amount for each route point deviates from the preset deformation amount (S30).

As a result of the determination in step S30, if the deformation amount for each path point deviates from the preset deformation amount, the corresponding housing is NG-treated (S60) and discharged from the process line.

On the other hand, if the deformation amount for each path point is within a preset deformation amount, the application control module 40 transmits the application path to the robot 10 ( S40 ). In this case, the application control module 40 converts the path point, that is, the vision coordinate system value of the vision module 20 into a robot coordinate system value that is an absolute coordinate system value, and transmits it to the robot 10 .

Accordingly, the robot 10 stores the application path as a position variable to correct the application path, and moves according to the corrected application path, and at this time, the hot melt discharge unit 30 discharges the hot melt to the corresponding housing. The hot melt is applied (S50).

In this embodiment, the deformation amount of the housing is measured and the hot melt application path is corrected based on the measured deformation amount to prevent hot melt application failure in advance.

In addition, in this embodiment, the over-deformed housing is selected to prevent input to the post-process, thereby preventing process defects in the production of the head lamp in advance.

In addition, in this embodiment, even when the housing is deformed, hot melt is applied according to the corrected path to prevent tip & housing damage, and process defects such as poor airtightness are prevented.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary and those of ordinary skill in the art to which the art pertains are aware that various modifications and equivalent other embodiments are possible therefrom. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10: Robot
20: Vision module
21: first camera
22: second camera
23: laser generator
30: hot melt discharge unit
40: application control module

Claims (18)

robot;
a vision module installed in the robot to scan the housing according to the movement of the robot;
a hot melt discharge unit installed in the robot to discharge hot melt to the housing according to the movement of the robot; and
After generating the overall shape data of the housing by scanning the housing through the vision module, obtaining the deformation amount of the housing based on the overall shape data, and correcting the application path for hot melt application based on the obtained deformation amount , Comprising a coating control module for applying the hot melt to the housing by transferring the corrected application path to the robot,
The application control module acquires the amount of deformation based on an error between the overall shape data and preset reference data,
The application control module compares the overall shape data with the reference data and corrects the application path according to whether the deformation amount is within a preset deformation amount.
The apparatus of claim 1, wherein the robot is a 6-axis robot capable of moving along the x-axis, y-axis, z-axis, rx-axis, ry-axis and rz-axis.
According to claim 1, wherein the vision module is
a laser generator irradiating a laser to the housing;
a first camera for acquiring first laser profile data by photographing the housing when a laser is irradiated by the laser generator; and
When the laser is irradiated by the laser generator, including a second camera for acquiring second laser profile data by photographing the housing,
The hot-melt coating apparatus of the housing, characterized in that the first laser profile data and the second laser profile data are respectively acquired at a preset position and transmitted to the coating control module.
The method of claim 3, wherein the application control module is
The hot-melt coating device for housing, characterized in that by collecting the first laser profile data, the second laser profile data, and the trigger signal of the robot to generate the overall shape data.
delete delete The hot-melt coating apparatus of claim 1, wherein the application control module corrects the application path when the deformation amount is within the set deformation amount.
8. The apparatus of claim 7, wherein the application path includes a plurality of path points converted into position values of the robot.
[Claim 9] The apparatus of claim 8, wherein the application control module determines whether the deformation amount is within the set deformation amount for each path point, and corrects the application path according to the determination result.
According to claim 1, wherein the application control module is
When the deformation amount is out of the set deformation amount, the housing hot melt application device, characterized in that the NG processing.
the vision module scanning the housing according to the movement of the robot;
generating, by the application control module, the overall shape data of the housing using the data acquired through the vision module;
obtaining, by the application control module, an amount of deformation of the housing based on the overall shape data;
correcting, by the application control module, an application path for hot melt application based on the deformation amount; and
Comprising the step of moving the robot according to the application path and discharging the hot melt application unit hot melt,
The amount of deformation is obtained based on an error between the overall shape data and preset reference data,
In the correcting of the application path, the application path is corrected according to whether the amount of deformation is within a preset deformation amount by comparing the overall shape data with the reference data.
12. The method of claim 11, wherein the overall shape data is
First laser profile data obtained by photographing the housing through a first camera when laser is irradiated by the laser generator, and second laser obtained by photographing the housing through a second camera when laser is irradiated by the laser generator A method for applying hot melt on a housing, characterized in that it is generated by collecting profile data and a trigger signal of the robot.
delete delete The method of claim 11, wherein the step of correcting the application path
If the deformation amount is within the set deformation amount, the hot-melt coating method of the housing, characterized in that correcting the application path.
16. The method of claim 15, wherein the application path includes a plurality of path points converted into position values of the robot.
The method of claim 16, wherein correcting the application path comprises:
The hot-melt coating method of the housing, characterized in that determining whether the deformation amount is within the set deformation amount for each route point, and correcting the application route according to the determination result.
12. The method of claim 11, wherein the application control module NG-processes the housing when the deformation amount deviates from the set deformation amount.

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